From 7a2d16d0835a09c1d4ca53b9c68edbf7fadaeb20 Mon Sep 17 00:00:00 2001
From: Farid Alijani <farid.alijani@student.lut.fi>
Date: Mon, 22 Feb 2016 22:41:45 +0100
Subject: [PATCH] controller tunning
---
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+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU) || defined(__HAIKU__) || defined(_HAIKU)
+# define PLATFORM_ID "Haiku"
+/* Haiku also defines __BEOS__ so we must
+ put it prior to the check for __BEOS__
+*/
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
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+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
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+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+ (void)argv;
+ return require;
+}
+#endif
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diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeFiles/CompilerIdCXX/CMakeCXXCompilerId.cpp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeFiles/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 00000000..7414ddf4
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeFiles/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,215 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+# elif __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+# else
+# define COMPILER_ID "VisualAge"
+# endif
+
+#elif defined(__PGI)
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+
+#elif defined(__PATHSCALE__)
+# define COMPILER_ID "PathScale"
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI_DSP"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+/* Analog Devices C++ compiler for Blackfin, TigerSHARC and
+ SHARC (21000) DSPs */
+# define COMPILER_ID "ADSP"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+
+/* This compiler is either not known or is too old to define an
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+ it is the native compiler. */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
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+
+#elif defined(__CYGWIN__)
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+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
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+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU) || defined(__HAIKU__) || defined(_HAIKU)
+# define PLATFORM_ID "Haiku"
+/* Haiku also defines __BEOS__ so we must
+ put it prior to the check for __BEOS__
+*/
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
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+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ (void)argv;
+ return require;
+}
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeFiles/CompilerIdCXX/a.out b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/CMakeFiles/CompilerIdCXX/a.out
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+
+# Build rule for target.
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+ $(MAKE) -f CMakeFiles/Makefile2 roscpp_generate_messages_py
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+
+#=============================================================================
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+
+# Build rule for target.
+rosgraph_msgs_generate_messages_cpp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_cpp
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+# fast build rule for target.
+rosgraph_msgs_generate_messages_cpp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/rosgraph_msgs_generate_messages_cpp.dir/build
+.PHONY : rosgraph_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named rosgraph_msgs_generate_messages_lisp
+
+# Build rule for target.
+rosgraph_msgs_generate_messages_lisp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_lisp
+.PHONY : rosgraph_msgs_generate_messages_lisp
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+# fast build rule for target.
+rosgraph_msgs_generate_messages_lisp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/build
+.PHONY : rosgraph_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named rosgraph_msgs_generate_messages_py
+
+# Build rule for target.
+rosgraph_msgs_generate_messages_py: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 rosgraph_msgs_generate_messages_py
+.PHONY : rosgraph_msgs_generate_messages_py
+
+# fast build rule for target.
+rosgraph_msgs_generate_messages_py/fast:
+ $(MAKE) -f mar_est/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/rosgraph_msgs_generate_messages_py.dir/build
+.PHONY : rosgraph_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named sensor_msgs_generate_messages_cpp
+
+# Build rule for target.
+sensor_msgs_generate_messages_cpp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 sensor_msgs_generate_messages_cpp
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+
+# fast build rule for target.
+sensor_msgs_generate_messages_cpp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/sensor_msgs_generate_messages_cpp.dir/build
+.PHONY : sensor_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named sensor_msgs_generate_messages_lisp
+
+# Build rule for target.
+sensor_msgs_generate_messages_lisp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 sensor_msgs_generate_messages_lisp
+.PHONY : sensor_msgs_generate_messages_lisp
+
+# fast build rule for target.
+sensor_msgs_generate_messages_lisp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/sensor_msgs_generate_messages_lisp.dir/build
+.PHONY : sensor_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named sensor_msgs_generate_messages_py
+
+# Build rule for target.
+sensor_msgs_generate_messages_py: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 sensor_msgs_generate_messages_py
+.PHONY : sensor_msgs_generate_messages_py
+
+# fast build rule for target.
+sensor_msgs_generate_messages_py/fast:
+ $(MAKE) -f mar_est/CMakeFiles/sensor_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/sensor_msgs_generate_messages_py.dir/build
+.PHONY : sensor_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_cpp
+
+# Build rule for target.
+std_msgs_generate_messages_cpp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_cpp
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+
+# fast build rule for target.
+std_msgs_generate_messages_cpp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_cpp.dir/build
+.PHONY : std_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_lisp
+
+# Build rule for target.
+std_msgs_generate_messages_lisp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_lisp
+.PHONY : std_msgs_generate_messages_lisp
+
+# fast build rule for target.
+std_msgs_generate_messages_lisp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_lisp.dir/build
+.PHONY : std_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named std_msgs_generate_messages_py
+
+# Build rule for target.
+std_msgs_generate_messages_py: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 std_msgs_generate_messages_py
+.PHONY : std_msgs_generate_messages_py
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+# fast build rule for target.
+std_msgs_generate_messages_py/fast:
+ $(MAKE) -f mar_est/CMakeFiles/std_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/std_msgs_generate_messages_py.dir/build
+.PHONY : std_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_cpp
+
+# Build rule for target.
+tf2_msgs_generate_messages_cpp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_cpp
+.PHONY : tf2_msgs_generate_messages_cpp
+
+# fast build rule for target.
+tf2_msgs_generate_messages_cpp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_cpp.dir/build
+.PHONY : tf2_msgs_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_lisp
+
+# Build rule for target.
+tf2_msgs_generate_messages_lisp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_lisp
+.PHONY : tf2_msgs_generate_messages_lisp
+
+# fast build rule for target.
+tf2_msgs_generate_messages_lisp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_lisp.dir/build
+.PHONY : tf2_msgs_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named tf2_msgs_generate_messages_py
+
+# Build rule for target.
+tf2_msgs_generate_messages_py: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf2_msgs_generate_messages_py
+.PHONY : tf2_msgs_generate_messages_py
+
+# fast build rule for target.
+tf2_msgs_generate_messages_py/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf2_msgs_generate_messages_py.dir/build.make mar_est/CMakeFiles/tf2_msgs_generate_messages_py.dir/build
+.PHONY : tf2_msgs_generate_messages_py/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_cpp
+
+# Build rule for target.
+tf_generate_messages_cpp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_cpp
+.PHONY : tf_generate_messages_cpp
+
+# fast build rule for target.
+tf_generate_messages_cpp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_cpp.dir/build.make mar_est/CMakeFiles/tf_generate_messages_cpp.dir/build
+.PHONY : tf_generate_messages_cpp/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_lisp
+
+# Build rule for target.
+tf_generate_messages_lisp: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_lisp
+.PHONY : tf_generate_messages_lisp
+
+# fast build rule for target.
+tf_generate_messages_lisp/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_lisp.dir/build.make mar_est/CMakeFiles/tf_generate_messages_lisp.dir/build
+.PHONY : tf_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named tf_generate_messages_py
+
+# Build rule for target.
+tf_generate_messages_py: cmake_check_build_system
+ $(MAKE) -f CMakeFiles/Makefile2 tf_generate_messages_py
+.PHONY : tf_generate_messages_py
+
+# fast build rule for target.
+tf_generate_messages_py/fast:
+ $(MAKE) -f mar_est/CMakeFiles/tf_generate_messages_py.dir/build.make mar_est/CMakeFiles/tf_generate_messages_py.dir/build
+.PHONY : tf_generate_messages_py/fast
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... clean_test_results"
+ @echo "... doxygen"
+ @echo "... edit_cache"
+ @echo "... install"
+ @echo "... install/local"
+ @echo "... install/strip"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... run_tests"
+ @echo "... test"
+ @echo "... tests"
+ @echo "... gtest"
+ @echo "... gtest_main"
+ @echo "... actionlib_generate_messages_cpp"
+ @echo "... actionlib_generate_messages_lisp"
+ @echo "... actionlib_generate_messages_py"
+ @echo "... actionlib_msgs_generate_messages_cpp"
+ @echo "... actionlib_msgs_generate_messages_lisp"
+ @echo "... actionlib_msgs_generate_messages_py"
+ @echo "... geometry_msgs_generate_messages_cpp"
+ @echo "... geometry_msgs_generate_messages_lisp"
+ @echo "... geometry_msgs_generate_messages_py"
+ @echo "... mar_est"
+ @echo "... roscpp_generate_messages_cpp"
+ @echo "... roscpp_generate_messages_lisp"
+ @echo "... roscpp_generate_messages_py"
+ @echo "... rosgraph_msgs_generate_messages_cpp"
+ @echo "... rosgraph_msgs_generate_messages_lisp"
+ @echo "... rosgraph_msgs_generate_messages_py"
+ @echo "... sensor_msgs_generate_messages_cpp"
+ @echo "... sensor_msgs_generate_messages_lisp"
+ @echo "... sensor_msgs_generate_messages_py"
+ @echo "... std_msgs_generate_messages_cpp"
+ @echo "... std_msgs_generate_messages_lisp"
+ @echo "... std_msgs_generate_messages_py"
+ @echo "... tf2_msgs_generate_messages_cpp"
+ @echo "... tf2_msgs_generate_messages_lisp"
+ @echo "... tf2_msgs_generate_messages_py"
+ @echo "... tf_generate_messages_cpp"
+ @echo "... tf_generate_messages_lisp"
+ @echo "... tf_generate_messages_py"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake
new file mode 100644
index 00000000..ff3201d3
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin/catkin_generated/version/package.cmake
@@ -0,0 +1,9 @@
+set(_CATKIN_CURRENT_PACKAGE "catkin")
+set(catkin_VERSION "0.5.90")
+set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2")
+set(catkin_BUILD_DEPENDS "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose")
+set(catkin_DEPRECATED "")
+set(catkin_RUN_DEPENDS "cmake" "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose")
+set(catkin_MAINTAINER "Dirk Thomas <dthomas@osrfoundation.org>")
+set(catkin_BUILDTOOL_DEPENDS "cmake")
+set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.0")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh
new file mode 100755
index 00000000..d6be91db
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/env_cached.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+ /bin/echo "Usage: env.sh COMMANDS"
+ /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+ exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup_cached.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup_cached.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py
new file mode 100644
index 00000000..db1e1967
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/generate_cached_setup.py
@@ -0,0 +1,29 @@
+from __future__ import print_function
+import argparse
+import os
+import stat
+import sys
+
+# find the import for catkin's python package - either from source space or from an installed underlay
+if os.path.exists(os.path.join('/opt/ros/hydro/share/catkin/cmake', 'catkinConfig.cmake.in')):
+ sys.path.insert(0, os.path.join('/opt/ros/hydro/share/catkin/cmake', '..', 'python'))
+try:
+ from catkin.environment_cache import generate_environment_script
+except ImportError:
+ # search for catkin package in all workspaces and prepend to path
+ for workspace in "/opt/ros/hydro".split(';'):
+ python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
+ if os.path.isdir(os.path.join(python_path, 'catkin')):
+ sys.path.insert(0, python_path)
+ break
+ from catkin.environment_cache import generate_environment_script
+
+code = generate_environment_script('/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh')
+
+output_filename = '/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh'
+with open(output_filename, 'w') as f:
+ #print('Generate script for cached setup "%s"' % output_filename)
+ f.write('\n'.join(code))
+
+mode = os.stat(output_filename).st_mode
+os.chmod(output_filename, mode | stat.S_IXUSR)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall
new file mode 100644
index 00000000..f6b02bb3
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+ local-name: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.sh
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py
new file mode 100755
index 00000000..80a7249e
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of Willow Garage, Inc. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+ 'CMAKE_PREFIX_PATH': '',
+ 'CPATH': 'include',
+ 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib',
+ 'PATH': 'bin',
+ 'PKG_CONFIG_PATH': 'lib/pkgconfig',
+ 'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+ '''
+ Generate shell code to reset environment variables
+ by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+ This does not cover modifications performed by environment hooks.
+ '''
+ lines = []
+ unmodified_environ = copy.copy(environ)
+ for key in sorted(env_var_subfolders.keys()):
+ subfolder = env_var_subfolders[key]
+ value = _rollback_env_variable(unmodified_environ, key, subfolder)
+ if value is not None:
+ environ[key] = value
+ lines.append(assignment(key, value))
+ if lines:
+ lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+ return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+ '''
+ For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+ :param subfolder: str '' or subfoldername that may start with '/'
+ :returns: the updated value of the environment variable.
+ '''
+ value = environ[name] if name in environ else ''
+ env_paths = [path for path in value.split(os.pathsep) if path]
+ value_modified = False
+ if subfolder:
+ if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+ subfolder = subfolder[1:]
+ if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+ subfolder = subfolder[:-1]
+ for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+ path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+ path_to_remove = None
+ for env_path in env_paths:
+ env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+ if env_path_clean == path_to_find:
+ path_to_remove = env_path
+ break
+ if path_to_remove:
+ env_paths.remove(path_to_remove)
+ value_modified = True
+ new_value = os.pathsep.join(env_paths)
+ return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+ '''
+ Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+ :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+ '''
+ # get all cmake prefix paths
+ env_name = 'CMAKE_PREFIX_PATH'
+ value = environ[env_name] if env_name in environ else ''
+ paths = [path for path in value.split(os.pathsep) if path]
+ # remove non-workspace paths
+ workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+ return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+ '''
+ Generate shell code to prepend environment variables
+ for the all workspaces.
+ '''
+ lines = []
+ lines.append(comment('prepend folders of workspaces to environment variables'))
+
+ paths = [path for path in workspaces.split(os.pathsep) if path]
+
+ prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+ lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+ for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+ subfolder = env_var_subfolders[key]
+ prefix = _prefix_env_variable(environ, key, paths, subfolder)
+ lines.append(prepend(environ, key, prefix))
+ return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolder):
+ '''
+ Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+ '''
+ value = environ[name] if name in environ else ''
+ environ_paths = [path for path in value.split(os.pathsep) if path]
+ checked_paths = []
+ for path in paths:
+ if subfolder:
+ path = os.path.join(path, subfolder)
+ # exclude any path already in env and any path we already added
+ if path not in environ_paths and path not in checked_paths:
+ checked_paths.append(path)
+ prefix_str = os.pathsep.join(checked_paths)
+ if prefix_str != '' and environ_paths:
+ prefix_str += os.pathsep
+ return prefix_str
+
+
+def assignment(key, value):
+ if not IS_WINDOWS:
+ return 'export %s="%s"' % (key, value)
+ else:
+ return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+ if not IS_WINDOWS:
+ return '# %s' % msg
+ else:
+ return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+ if key not in environ or not environ[key]:
+ return assignment(key, prefix)
+ if not IS_WINDOWS:
+ return 'export %s="%s$%s"' % (key, prefix, key)
+ else:
+ return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+ '''
+ Generate shell code with found environment hooks
+ for the all workspaces.
+ '''
+ lines = []
+ lines.append(comment('found environment hooks in workspaces'))
+
+ generic_env_hooks = []
+ generic_env_hooks_workspace = []
+ specific_env_hooks = []
+ specific_env_hooks_workspace = []
+ generic_env_hooks_by_filename = {}
+ specific_env_hooks_by_filename = {}
+ generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+ specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+ # remove non-workspace paths
+ workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+ for workspace in reversed(workspaces):
+ env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+ if os.path.isdir(env_hook_dir):
+ for filename in sorted(os.listdir(env_hook_dir)):
+ if filename.endswith('.%s' % generic_env_hook_ext):
+ # remove previous env hook with same name if present
+ if filename in generic_env_hooks_by_filename:
+ i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+ generic_env_hooks.pop(i)
+ generic_env_hooks_workspace.pop(i)
+ # append env hook
+ generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+ generic_env_hooks_workspace.append(workspace)
+ generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+ elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+ # remove previous env hook with same name if present
+ if filename in specific_env_hooks_by_filename:
+ i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+ specific_env_hooks.pop(i)
+ specific_env_hooks_workspace.pop(i)
+ # append env hook
+ specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+ specific_env_hooks_workspace.append(workspace)
+ specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+ env_hooks = generic_env_hooks + specific_env_hooks
+ env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+ count = len(env_hooks)
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+ for i in range(count):
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+ return lines
+
+
+def _parse_arguments(args=None):
+ parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+ parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+ return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+ try:
+ try:
+ args = _parse_arguments()
+ except Exception as e:
+ print(e, file=sys.stderr)
+ sys.exit(1)
+
+ # environment at generation time
+ CMAKE_PREFIX_PATH = '/opt/ros/hydro'.split(';')
+ # prepend current workspace if not already part of CPP
+ base_path = os.path.dirname(__file__)
+ if base_path not in CMAKE_PREFIX_PATH:
+ CMAKE_PREFIX_PATH.insert(0, base_path)
+ CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+ environ = dict(os.environ)
+ lines = []
+ if not args.extend:
+ lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+ lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+ lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+ print('\n'.join(lines))
+
+ # need to explicitly flush the output
+ sys.stdout.flush()
+ except IOError as e:
+ # and catch potantial "broken pipe" if stdout is not writable
+ # which can happen when piping the output to a file but the disk is full
+ if e.errno == errno.EPIPE:
+ print(e, file=sys.stderr)
+ sys.exit(2)
+ raise
+
+ sys.exit(0)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+ /bin/echo "Usage: env.sh COMMANDS"
+ /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+ exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh
new file mode 100644
index 00000000..c7858c7a
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+ echo "Missing Python script: $_SETUP_UTIL"
+ return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+ _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+ export LD_LIBRARY_PATH
+else
+ export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+ CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+ echo "Could not create temporary file: $_SETUP_TMP"
+ return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+ if [ $_RC -eq 2 ]; then
+ echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+ else
+ echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+ fi
+ unset _RC
+ unset _SETUP_UTIL
+ rm -f $_SETUP_TMP
+ unset _SETUP_TMP
+ return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+ eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+ unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+ eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+ unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+ # set workspace for environment hook
+ CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+ . "$_envfile"
+ unset CATKIN_ENV_HOOK_WORKSPACE
+ _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh
new file mode 100644
index 00000000..b6607176
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake
new file mode 100644
index 00000000..72ed0366
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+list(APPEND CATKIN_ORDERED_PACKAGES "mar_est")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "mar_est")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
+
+set(CATKIN_MESSAGE_GENERATORS )
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "/usr/lib/python2.7/dist-packages/catkin_pkg/templates/metapackage.cmake.in")
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py
new file mode 100644
index 00000000..c6a5c880
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/order_packages.py
@@ -0,0 +1,5 @@
+# generated from catkin/cmake/template/order_packages.context.py.in
+source_root_dir = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION"
+whitelisted_packages = "".split(';') if "" != "" else []
+blacklisted_packages = "".split(';') if "" != "" else []
+underlay_workspaces = "/opt/ros/hydro".split(';') if "/opt/ros/hydro" != "" else []
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh
new file mode 100755
index 00000000..bc1e0792
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/setup_cached.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env sh
+# generated from catkin/python/catkin/environment_cache.py
+
+# based on a snapshot of the environment before and after calling the setup script
+# it emulates the modifications of the setup script without recurring computations
+
+# new environment variables
+export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+export ROS_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+
+# modified environment variables
+export CMAKE_PREFIX_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel:$CMAKE_PREFIX_PATH"
+export CPATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/include:$CPATH"
+export LD_LIBRARY_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib:$LD_LIBRARY_PATH"
+export PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/bin:$PATH"
+export PKG_CONFIG_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
+export PWD="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build"
+export PYTHONPATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/python2.7/dist-packages:/opt/ros/hydro/lib/python2.7/dist-packages:/home/faridalijani/src/labcomm/lib/python"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/common-lisp"
+export ROS_PACKAGE_PATH="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION:/opt/ros/hydro/share:/opt/ros/hydro/stacks"
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
new file mode 100644
index 00000000..26882f02
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp
@@ -0,0 +1,250 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of Willow Garage, Inc. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from __future__ import print_function
+import os
+import sys
+
+import distutils.core
+try:
+ import setuptools
+except ImportError:
+ pass
+
+from argparse import ArgumentParser
+
+
+def _get_locations(pkgs, package_dir):
+ """
+ based on setuptools logic and the package_dir dict, builds a dict
+ of location roots for each pkg in pkgs.
+ See http://docs.python.org/distutils/setupscript.html
+
+ :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents)
+ """
+ # package_dir contains a dict {package_name: relativepath}
+ # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'}
+ #
+ # '' means where to look for any package unless a parent package
+ # is listed so package bar.pot is expected at lib2/bar/pot,
+ # whereas package sup.dee is expected at src/sup/dee
+ #
+ # if package_dir does not state anything about a package,
+ # setuptool expects the package folder to be in the root of the
+ # project
+ locations = {}
+ allprefix = package_dir.get('', '')
+ for pkg in pkgs:
+ parent_location = None
+ splits = pkg.split('.')
+ # we iterate over compound name from parent to child
+ # so once we found parent, children just append to their parent
+ for key_len in range(len(splits)):
+ key = '.'.join(splits[:key_len + 1])
+ if key not in locations:
+ if key in package_dir:
+ locations[key] = package_dir[key]
+ elif parent_location is not None:
+ locations[key] = parent_location
+ else:
+ locations[key] = allprefix
+ parent_location = locations[key]
+ return locations
+
+
+def generate_cmake_file(package_name, version, scripts, package_dir, pkgs, modules):
+ """
+ Generates lines to add to a cmake file which will set variables
+
+ :param version: str, format 'int.int.int'
+ :param scripts: [list of str]: relative paths to scripts
+ :param package_dir: {modulename: path}
+ :pkgs: [list of str] python_packages declared in catkin package
+ :modules: [list of str] python modules
+ """
+ prefix = '%s_SETUP_PY' % package_name
+ result = []
+ result.append(r'set(%s_VERSION "%s")' % (prefix, version))
+ result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts)))
+
+ # Remove packages with '.' separators.
+ #
+ # setuptools allows specifying submodules in other folders than
+ # their parent
+ #
+ # The symlink approach of catkin does not work with such submodules.
+ # In the common case, this does not matter as the submodule is
+ # within the containing module. We verify this assumption, and if
+ # it passes, we remove submodule packages.
+ locations = _get_locations(pkgs, package_dir)
+ for pkgname, location in locations.items():
+ if not '.' in pkgname:
+ continue
+ splits = pkgname.split('.')
+ # hack: ignore write-combining setup.py files for msg and srv files
+ if splits[1] in ['msg', 'srv']:
+ continue
+ # check every child has the same root folder as its parent
+ parent_name = '.'.join(splits[:1])
+ if location != locations[parent_name]:
+ raise RuntimeError(
+ "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name]))
+
+ # If checks pass, remove all submodules
+ pkgs = [p for p in pkgs if '.' not in p]
+
+ resolved_pkgs = []
+ for pkg in pkgs:
+ resolved_pkgs += [os.path.join(locations[pkg], pkg)]
+
+ result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs)))
+ result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/")))
+
+ # skip modules which collide with package names
+ filtered_modules = []
+ for modname in modules:
+ splits = modname.split('.')
+ # check all parents too
+ equals_package = [('.'.join(splits[:-i]) in locations) for i in range(len(splits))]
+ if any(equals_package):
+ continue
+ filtered_modules.append(modname)
+ module_locations = _get_locations(filtered_modules, package_dir)
+
+ result.append(r'set(%s_MODULES "%s")' % (prefix, ';'.join(['%s.py' % m.replace('.', '/') for m in filtered_modules])))
+ result.append(r'set(%s_MODULE_DIRS "%s")' % (prefix, ';'.join([module_locations[m] for m in filtered_modules]).replace("\\", "/")))
+
+ return result
+
+
+def _create_mock_setup_function(package_name, outfile):
+ """
+ Creates a function to call instead of distutils.core.setup or
+ setuptools.setup, which just captures some args and writes them
+ into a file that can be used from cmake
+
+ :param package_name: name of the package
+ :param outfile: filename that cmake will use afterwards
+ :returns: a function to replace disutils.core.setup and setuptools.setup
+ """
+
+ def setup(*args, **kwargs):
+ '''
+ Checks kwargs and writes a scriptfile
+ '''
+ if 'version' not in kwargs:
+ sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name)
+ raise RuntimeError("version not found in setup.py")
+ version = kwargs['version']
+ package_dir = kwargs.get('package_dir', {})
+
+ pkgs = kwargs.get('packages', [])
+ scripts = kwargs.get('scripts', [])
+ modules = kwargs.get('py_modules', [])
+
+ unsupported_args = [
+ 'entry_points',
+ 'exclude_package_data',
+ 'ext_modules ',
+ 'ext_package',
+ 'include_package_data',
+ 'namespace_packages',
+ 'setup_requires',
+ 'use_2to3',
+ 'zip_safe']
+ used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs]
+ if used_unsupported_args:
+ sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name))
+
+ result = generate_cmake_file(package_name=package_name,
+ version=version,
+ scripts=scripts,
+ package_dir=package_dir,
+ pkgs=pkgs,
+ modules=modules)
+ with open(outfile, 'w') as out:
+ out.write('\n'.join(result))
+
+ return setup
+
+
+def main():
+ """
+ Script main, parses arguments and invokes Dummy.setup indirectly.
+ """
+ parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.')
+ parser.add_argument('package_name', help='Name of catkin package')
+ parser.add_argument('setupfile_path', help='Full path to setup.py')
+ parser.add_argument('outfile', help='Where to write result to')
+
+ args = parser.parse_args()
+
+ # print("%s" % sys.argv)
+ # PACKAGE_NAME = sys.argv[1]
+ # OUTFILE = sys.argv[3]
+ # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE),
+ # file=sys.stderr)
+
+ # print("executing %s" % args.setupfile_path)
+
+ # be sure you're in the directory containing
+ # setup.py so the sys.path manipulation works,
+ # so the import of __version__ works
+ os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path)))
+
+ # patch setup() function of distutils and setuptools for the
+ # context of evaluating setup.py
+ try:
+ fake_setup = _create_mock_setup_function(package_name=args.package_name,
+ outfile=args.outfile)
+
+ distutils_backup = distutils.core.setup
+ distutils.core.setup = fake_setup
+ try:
+ setuptools_backup = setuptools.setup
+ setuptools.setup = fake_setup
+ except NameError:
+ pass
+
+ with open(args.setupfile_path, 'r') as fh:
+ exec(fh.read())
+ finally:
+ distutils.core.setup = distutils_backup
+ try:
+ setuptools.setup = setuptools_backup
+ except NameError:
+ pass
+
+if __name__ == '__main__':
+ main()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
new file mode 100644
index 00000000..087d4d80
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/order_packages.cmake.em.stamp
@@ -0,0 +1,56 @@
+# generated from catkin/cmake/em/order_packages.cmake.em
+@{
+import os
+try:
+ from catkin_pkg.cmake import get_metapackage_cmake_template_path
+except ImportError as e:
+ raise RuntimeError('ImportError: "from catkin_pkg.cmake import get_metapackage_cmake_template_path" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+ from catkin_pkg.topological_order import topological_order
+except ImportError as e:
+ raise RuntimeError('ImportError: "from catkin_pkg.topological_order import topological_order" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+try:
+ from catkin_pkg.package import InvalidPackage
+except ImportError as e:
+ raise RuntimeError('ImportError: "from catkin_pkg.package import InvalidPackage" failed: %s\nMake sure that you have installed "catkin_pkg", it is up to date and on the PYTHONPATH.' % e)
+# vars defined in order_packages.context.py.in
+try:
+ ordered_packages = topological_order(os.path.normpath(source_root_dir), whitelisted=whitelisted_packages, blacklisted=blacklisted_packages, underlay_workspaces=underlay_workspaces)
+except InvalidPackage as e:
+ print('message(FATAL_ERROR "%s")' % ('%s' % e).replace('"', '\\"'))
+ ordered_packages = []
+fatal_error = False
+}@
+
+set(CATKIN_ORDERED_PACKAGES "")
+set(CATKIN_ORDERED_PACKAGE_PATHS "")
+set(CATKIN_ORDERED_PACKAGES_IS_META "")
+set(CATKIN_ORDERED_PACKAGES_BUILD_TYPE "")
+@[for path, package in ordered_packages]@
+@[if path is None]@
+message(FATAL_ERROR "Circular dependency in subset of packages:\n@package")
+@{
+fatal_error = True
+}@
+@[elif package.name != 'catkin']@
+list(APPEND CATKIN_ORDERED_PACKAGES "@(package.name)")
+list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "@(path.replace('\\','/'))")
+list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "@(str('metapackage' in [e.tagname for e in package.exports]))")
+list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "@(str([e.content for e in package.exports if e.tagname == 'build_type'][0]) if 'build_type' in [e.tagname for e in package.exports] else 'catkin')")
+@{
+deprecated = [e for e in package.exports if e.tagname == 'deprecated']
+}@
+@[if deprecated]@
+message("WARNING: Package '@(package.name)' is deprecated@(' (%s)' % deprecated[0].content if deprecated[0].content else '')")
+@[end if]@
+@[end if]@
+@[end for]@
+
+@[if not fatal_error]@
+@{
+message_generators = [package.name for (_, package) in ordered_packages if 'message_generator' in [e.tagname for e in package.exports]]
+}@
+set(CATKIN_MESSAGE_GENERATORS @(' '.join(message_generators)))
+@[end if]@
+
+set(CATKIN_METAPACKAGE_CMAKE_TEMPLATE "@(get_metapackage_cmake_template_path().replace('\\','/'))")
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp
new file mode 100644
index 00000000..fe40bcf4
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/stamps/Project/package.xml.stamp
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<package>
+ <name>catkin</name>
+ <version>0.5.90</version>
+ <description>Low-level build system macros and infrastructure for ROS.</description>
+ <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+ <license>BSD</license>
+
+ <url type="website">http://www.ros.org/wiki/catkin</url>
+ <url type="bugtracker">https://github.com/ros/catkin/issues</url>
+ <url type="repository">https://github.com/ros/catkin</url>
+
+ <author>Troy Straszheim</author>
+ <author>Morten Kjaergaard</author>
+ <author>Brian Gerkey</author>
+ <author>Dirk Thomas</author>
+
+ <build_depend>gtest</build_depend>
+ <build_depend>python-argparse</build_depend>
+ <build_depend version_gte="0.2.2">python-catkin-pkg</build_depend>
+ <build_depend>python-empy</build_depend>
+ <build_depend>python-nose</build_depend>
+
+ <buildtool_depend>cmake</buildtool_depend>
+
+ <run_depend>cmake</run_depend>
+ <run_depend>gtest</run_depend>
+ <run_depend>python-argparse</run_depend>
+ <run_depend version_gte="0.2.0">python-catkin-pkg</run_depend>
+ <run_depend>python-empy</run_depend>
+ <run_depend>python-nose</run_depend>
+
+ <export>
+ <rosdoc config="rosdoc.yaml"/>
+ </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache
new file mode 100644
index 00000000..71324381
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_make.cache
@@ -0,0 +1,2 @@
+mar_est
+-DARUCO_PATH=/usr/local -DCATKIN_DEVEL_PREFIX=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel -DCMAKE_INSTALL_PREFIX=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake
new file mode 100644
index 00000000..430357e8
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/cmake_install.cmake
@@ -0,0 +1,105 @@
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ IF(BUILD_TYPE)
+ STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ ELSE(BUILD_TYPE)
+ SET(CMAKE_INSTALL_CONFIG_NAME "")
+ ENDIF(BUILD_TYPE)
+ MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+ IF(COMPONENT)
+ MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+ SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ ELSE(COMPONENT)
+ SET(CMAKE_INSTALL_COMPONENT)
+ ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+ if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+ file(MAKE_DIRECTORY "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}")
+ endif()
+ if (NOT EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin")
+ file(WRITE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/.catkin" "")
+ endif()
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/_setup_util.py")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/_setup_util.py")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/env.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE PROGRAM FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/env.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.bash")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.sh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.sh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/setup.zsh")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/setup.zsh")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/.rosinstall")
+FILE(INSTALL DESTINATION "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/catkin_generated/installspace/.rosinstall")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/hydro/share/catkin/cmake/env-hooks/05.catkin_make.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/hydro/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+ # Include the install script for each subdirectory.
+ INCLUDE("/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/cmake_install.cmake")
+ INCLUDE("/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake")
+
+ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY)
+
+IF(CMAKE_INSTALL_COMPONENT)
+ SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+ SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+ FILE(APPEND "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
new file mode 100644
index 00000000..9e7fbf53
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
@@ -0,0 +1,24 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
+# Relative path conversion top directories.
+SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest")
+SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build")
+
+# Force unix paths in dependencies.
+SET(CMAKE_FORCE_UNIX_PATHS 1)
+
+# The C and CXX include file search paths:
+SET(CMAKE_C_INCLUDE_PATH
+ "/usr/src/gtest/include"
+ "/usr/src/gtest"
+ )
+SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+SET(CMAKE_ASM_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
+
+# The C and CXX include file regular expressions for this directory.
+SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
new file mode 100644
index 00000000..8f02fbc4
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake
@@ -0,0 +1,18 @@
+# The set of languages for which implicit dependencies are needed:
+SET(CMAKE_DEPENDS_LANGUAGES
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+# The set of files for implicit dependencies of each language:
+SET(CMAKE_DEPENDS_CHECK_CXX
+ "/usr/src/gtest/src/gtest-all.cc" "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o"
+ )
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+ "GTEST_CREATE_SHARED_LIBRARY=1"
+ )
+
+# Targets to which this target links.
+SET(CMAKE_TARGET_LINKED_INFO_FILES
+ )
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/build.make b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/build.make
new file mode 100644
index 00000000..e293b4e8
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/gtest/CMakeFiles/gtest.dir/build.make
@@ -0,0 +1,102 @@
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+# Generated by "Unix Makefiles" Generator, CMake Version 2.8
+
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+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+# A target that is always out of date.
+cmake_force:
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# The program to use to edit the cache.
+CMAKE_EDIT_COMMAND = /usr/bin/cmake-gui
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build
+
+# Include any dependencies generated for this target.
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+
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+
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+ message(FATAL_ERROR "Project 'mar_est' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/${idir}'. Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+ endif()
+ _list_append_unique(mar_est_INCLUDE_DIRS ${include})
+ endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+ # keep build configuration keywords, target names and absolute libraries as-is
+ if("${library}" MATCHES "^debug|optimized|general$")
+ list(APPEND mar_est_LIBRARIES ${library})
+ elseif(TARGET ${library})
+ list(APPEND mar_est_LIBRARIES ${library})
+ elseif(IS_ABSOLUTE ${library})
+ list(APPEND mar_est_LIBRARIES ${library})
+ else()
+ set(lib_path "")
+ set(lib "${library}-NOTFOUND")
+ # since the path where the library is found is returned we have to iterate over the paths manually
+ foreach(path /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install/lib;/opt/ros/hydro/lib)
+ find_library(lib ${library}
+ PATHS ${path}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+ if(lib)
+ set(lib_path ${path})
+ break()
+ endif()
+ endforeach()
+ if(lib)
+ _list_append_unique(mar_est_LIBRARY_DIRS ${lib_path})
+ list(APPEND mar_est_LIBRARIES ${lib})
+ else()
+ # as a fall back for non-catkin libraries try to search globally
+ find_library(lib ${library})
+ if(NOT lib)
+ message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mar_est'? Did you find_package() it before the subdirectory containing its code is included?")
+ endif()
+ list(APPEND mar_est_LIBRARIES ${lib})
+ endif()
+ endif()
+endforeach()
+
+set(mar_est_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${mar_est_EXPORTED_TARGETS})
+ if(NOT TARGET ${t})
+ add_custom_target(${t})
+ endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+ string(REPLACE " " ";" depend_list ${depend})
+ # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+ list(GET depend_list 0 mar_est_dep)
+ list(LENGTH depend_list count)
+ if(${count} EQUAL 1)
+ # simple dependencies must only be find_package()-ed once
+ if(NOT ${mar_est_dep}_FOUND)
+ find_package(${mar_est_dep} REQUIRED)
+ endif()
+ else()
+ # dependencies with components must be find_package()-ed again
+ list(REMOVE_AT depend_list 0)
+ find_package(${mar_est_dep} REQUIRED ${depend_list})
+ endif()
+ _list_append_unique(mar_est_INCLUDE_DIRS ${${mar_est_dep}_INCLUDE_DIRS})
+
+ # merge build configuration keywords with library names to correctly deduplicate
+ _pack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+ _pack_libraries_with_build_configuration(_libraries ${${mar_est_dep}_LIBRARIES})
+ _list_append_deduplicate(mar_est_LIBRARIES ${_libraries})
+ # undo build configuration keyword merging after deduplication
+ _unpack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+
+ _list_append_unique(mar_est_LIBRARY_DIRS ${${mar_est_dep}_LIBRARY_DIRS})
+ list(APPEND mar_est_EXPORTED_TARGETS ${${mar_est_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+ if(NOT IS_ABSOLUTE ${extra})
+ set(extra ${mar_est_DIR}/${extra})
+ endif()
+ include(${extra})
+endforeach()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake
new file mode 100644
index 00000000..3b5d3185
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/ordered_paths.cmake
@@ -0,0 +1 @@
+set(ORDERED_PATHS "/opt/ros/hydro/lib")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake
new file mode 100644
index 00000000..b294d430
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/package.cmake
@@ -0,0 +1,7 @@
+set(_CATKIN_CURRENT_PACKAGE "mar_est")
+set(mar_est_MAINTAINER "faridalijani <faridalijani@todo.todo>")
+set(mar_est_DEPRECATED "")
+set(mar_est_VERSION "0.0.0")
+set(mar_est_BUILD_DEPENDS "cv_bridge" "geometry_msgs" "image_transport" "roscpp" "rospy" "std_msgs" "tf")
+set(mar_est_RUN_DEPENDS "cv_bridge" "geometry_msgs" "image_transport" "roscpp" "rospy" "std_msgs" "tf")
+set(mar_est_BUILDTOOL_DEPENDS "catkin")
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.develspace.context.pc.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.develspace.context.pc.py
new file mode 100644
index 00000000..5ad53892
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.develspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "mar_est"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel"
+PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.installspace.context.pc.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.installspace.context.pc.py
new file mode 100644
index 00000000..0ca9804f
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/pkg.installspace.context.pc.py
@@ -0,0 +1,8 @@
+# generated from catkin/cmake/template/pkg.context.pc.in
+CATKIN_PACKAGE_PREFIX = ""
+PROJECT_PKG_CONFIG_INCLUDE_DIRS = "".split(';') if "" != "" else []
+PROJECT_CATKIN_DEPENDS = "".replace(';', ' ')
+PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else []
+PROJECT_NAME = "mar_est"
+PROJECT_SPACE_DIR = "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install"
+PROJECT_VERSION = "0.0.0"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp
new file mode 100644
index 00000000..06010db0
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/package.xml.stamp
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+ <name>mar_est</name>
+ <version>0.0.0</version>
+ <description>The mar_est package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="faridalijani@todo.todo">faridalijani</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>cv_bridge</build_depend>
+ <build_depend>geometry_msgs</build_depend>
+ <build_depend>image_transport</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_depend>tf</build_depend>
+
+ <run_depend>cv_bridge</run_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <run_depend>image_transport</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>rospy</run_depend>
+ <run_depend>std_msgs</run_depend>
+ <run_depend>tf</run_depend>
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/pkg.pc.em.stamp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/pkg.pc.em.stamp
new file mode 100644
index 00000000..a4f72576
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/stamps/mar_est/pkg.pc.em.stamp
@@ -0,0 +1,8 @@
+prefix=@PROJECT_SPACE_DIR
+
+Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME)
+Description: Description of @PROJECT_NAME
+Version: @PROJECT_VERSION
+Cflags: @(' '.join(['-I%s' % include for include in PROJECT_PKG_CONFIG_INCLUDE_DIRS]))
+Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX))
+Requires: @(PROJECT_CATKIN_DEPENDS)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake
new file mode 100644
index 00000000..9f2e9a8a
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/cmake_install.cmake
@@ -0,0 +1,49 @@
+# Install script for directory: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ SET(CMAKE_INSTALL_PREFIX "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ IF(BUILD_TYPE)
+ STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ ELSE(BUILD_TYPE)
+ SET(CMAKE_INSTALL_CONFIG_NAME "")
+ ENDIF(BUILD_TYPE)
+ MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+ IF(COMPONENT)
+ MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+ SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ ELSE(COMPONENT)
+ SET(CMAKE_INSTALL_COMPONENT)
+ ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_est.pc")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mar_est/cmake" TYPE FILE FILES
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_estConfig.cmake"
+ "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/mar_est/catkin_generated/installspace/mar_estConfig-version.cmake"
+ )
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
+IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+ FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/mar_est" TYPE FILE FILES "/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml")
+ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified")
+
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin
new file mode 100644
index 00000000..c0156d16
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.catkin
@@ -0,0 +1 @@
+/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION
\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall
new file mode 100644
index 00000000..904619e7
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/.rosinstall
@@ -0,0 +1,2 @@
+- setup-file:
+ local-name: /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py
new file mode 100755
index 00000000..80a7249e
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/_setup_util.py
@@ -0,0 +1,280 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2012, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above
+# copyright notice, this list of conditions and the following
+# disclaimer in the documentation and/or other materials provided
+# with the distribution.
+# * Neither the name of Willow Garage, Inc. nor the names of its
+# contributors may be used to endorse or promote products derived
+# from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+'''This file generates shell code for the setup.SHELL scripts to set environment variables'''
+
+from __future__ import print_function
+import argparse
+import copy
+import errno
+import os
+import platform
+import sys
+
+CATKIN_MARKER_FILE = '.catkin'
+
+system = platform.system()
+IS_DARWIN = (system == 'Darwin')
+IS_WINDOWS = (system == 'Windows')
+
+# subfolder of workspace prepended to CMAKE_PREFIX_PATH
+ENV_VAR_SUBFOLDERS = {
+ 'CMAKE_PREFIX_PATH': '',
+ 'CPATH': 'include',
+ 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib',
+ 'PATH': 'bin',
+ 'PKG_CONFIG_PATH': 'lib/pkgconfig',
+ 'PYTHONPATH': 'lib/python2.7/dist-packages',
+}
+
+
+def rollback_env_variables(environ, env_var_subfolders):
+ '''
+ Generate shell code to reset environment variables
+ by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH.
+ This does not cover modifications performed by environment hooks.
+ '''
+ lines = []
+ unmodified_environ = copy.copy(environ)
+ for key in sorted(env_var_subfolders.keys()):
+ subfolder = env_var_subfolders[key]
+ value = _rollback_env_variable(unmodified_environ, key, subfolder)
+ if value is not None:
+ environ[key] = value
+ lines.append(assignment(key, value))
+ if lines:
+ lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH'))
+ return lines
+
+
+def _rollback_env_variable(environ, name, subfolder):
+ '''
+ For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder.
+
+ :param subfolder: str '' or subfoldername that may start with '/'
+ :returns: the updated value of the environment variable.
+ '''
+ value = environ[name] if name in environ else ''
+ env_paths = [path for path in value.split(os.pathsep) if path]
+ value_modified = False
+ if subfolder:
+ if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)):
+ subfolder = subfolder[1:]
+ if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)):
+ subfolder = subfolder[:-1]
+ for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True):
+ path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path
+ path_to_remove = None
+ for env_path in env_paths:
+ env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path
+ if env_path_clean == path_to_find:
+ path_to_remove = env_path
+ break
+ if path_to_remove:
+ env_paths.remove(path_to_remove)
+ value_modified = True
+ new_value = os.pathsep.join(env_paths)
+ return new_value if value_modified else None
+
+
+def _get_workspaces(environ, include_fuerte=False, include_non_existing=False):
+ '''
+ Based on CMAKE_PREFIX_PATH return all catkin workspaces.
+
+ :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool``
+ '''
+ # get all cmake prefix paths
+ env_name = 'CMAKE_PREFIX_PATH'
+ value = environ[env_name] if env_name in environ else ''
+ paths = [path for path in value.split(os.pathsep) if path]
+ # remove non-workspace paths
+ workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))]
+ return workspaces
+
+
+def prepend_env_variables(environ, env_var_subfolders, workspaces):
+ '''
+ Generate shell code to prepend environment variables
+ for the all workspaces.
+ '''
+ lines = []
+ lines.append(comment('prepend folders of workspaces to environment variables'))
+
+ paths = [path for path in workspaces.split(os.pathsep) if path]
+
+ prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '')
+ lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix))
+
+ for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']):
+ subfolder = env_var_subfolders[key]
+ prefix = _prefix_env_variable(environ, key, paths, subfolder)
+ lines.append(prepend(environ, key, prefix))
+ return lines
+
+
+def _prefix_env_variable(environ, name, paths, subfolder):
+ '''
+ Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items.
+ '''
+ value = environ[name] if name in environ else ''
+ environ_paths = [path for path in value.split(os.pathsep) if path]
+ checked_paths = []
+ for path in paths:
+ if subfolder:
+ path = os.path.join(path, subfolder)
+ # exclude any path already in env and any path we already added
+ if path not in environ_paths and path not in checked_paths:
+ checked_paths.append(path)
+ prefix_str = os.pathsep.join(checked_paths)
+ if prefix_str != '' and environ_paths:
+ prefix_str += os.pathsep
+ return prefix_str
+
+
+def assignment(key, value):
+ if not IS_WINDOWS:
+ return 'export %s="%s"' % (key, value)
+ else:
+ return 'set %s=%s' % (key, value)
+
+
+def comment(msg):
+ if not IS_WINDOWS:
+ return '# %s' % msg
+ else:
+ return 'REM %s' % msg
+
+
+def prepend(environ, key, prefix):
+ if key not in environ or not environ[key]:
+ return assignment(key, prefix)
+ if not IS_WINDOWS:
+ return 'export %s="%s$%s"' % (key, prefix, key)
+ else:
+ return 'set %s=%s%%%s%%' % (key, prefix, key)
+
+
+def find_env_hooks(environ, cmake_prefix_path):
+ '''
+ Generate shell code with found environment hooks
+ for the all workspaces.
+ '''
+ lines = []
+ lines.append(comment('found environment hooks in workspaces'))
+
+ generic_env_hooks = []
+ generic_env_hooks_workspace = []
+ specific_env_hooks = []
+ specific_env_hooks_workspace = []
+ generic_env_hooks_by_filename = {}
+ specific_env_hooks_by_filename = {}
+ generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh'
+ specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None
+ # remove non-workspace paths
+ workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))]
+ for workspace in reversed(workspaces):
+ env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d')
+ if os.path.isdir(env_hook_dir):
+ for filename in sorted(os.listdir(env_hook_dir)):
+ if filename.endswith('.%s' % generic_env_hook_ext):
+ # remove previous env hook with same name if present
+ if filename in generic_env_hooks_by_filename:
+ i = generic_env_hooks.index(generic_env_hooks_by_filename[filename])
+ generic_env_hooks.pop(i)
+ generic_env_hooks_workspace.pop(i)
+ # append env hook
+ generic_env_hooks.append(os.path.join(env_hook_dir, filename))
+ generic_env_hooks_workspace.append(workspace)
+ generic_env_hooks_by_filename[filename] = generic_env_hooks[-1]
+ elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext):
+ # remove previous env hook with same name if present
+ if filename in specific_env_hooks_by_filename:
+ i = specific_env_hooks.index(specific_env_hooks_by_filename[filename])
+ specific_env_hooks.pop(i)
+ specific_env_hooks_workspace.pop(i)
+ # append env hook
+ specific_env_hooks.append(os.path.join(env_hook_dir, filename))
+ specific_env_hooks_workspace.append(workspace)
+ specific_env_hooks_by_filename[filename] = specific_env_hooks[-1]
+ env_hooks = generic_env_hooks + specific_env_hooks
+ env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace
+ count = len(env_hooks)
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count))
+ for i in range(count):
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i]))
+ lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i]))
+ return lines
+
+
+def _parse_arguments(args=None):
+ parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.')
+ parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context')
+ return parser.parse_known_args(args=args)[0]
+
+
+if __name__ == '__main__':
+ try:
+ try:
+ args = _parse_arguments()
+ except Exception as e:
+ print(e, file=sys.stderr)
+ sys.exit(1)
+
+ # environment at generation time
+ CMAKE_PREFIX_PATH = '/opt/ros/hydro'.split(';')
+ # prepend current workspace if not already part of CPP
+ base_path = os.path.dirname(__file__)
+ if base_path not in CMAKE_PREFIX_PATH:
+ CMAKE_PREFIX_PATH.insert(0, base_path)
+ CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH)
+
+ environ = dict(os.environ)
+ lines = []
+ if not args.extend:
+ lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS)
+ lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH)
+ lines += find_env_hooks(environ, CMAKE_PREFIX_PATH)
+ print('\n'.join(lines))
+
+ # need to explicitly flush the output
+ sys.stdout.flush()
+ except IOError as e:
+ # and catch potantial "broken pipe" if stdout is not writable
+ # which can happen when piping the output to a file but the disk is full
+ if e.errno == errno.EPIPE:
+ print(e, file=sys.stderr)
+ sys.exit(2)
+ raise
+
+ sys.exit(0)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh
new file mode 100755
index 00000000..8aa9d244
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/env.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/templates/env.sh.in
+
+if [ $# -eq 0 ] ; then
+ /bin/echo "Usage: env.sh COMMANDS"
+ /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually."
+ exit 1
+fi
+
+# ensure to not use different shell type which was set before
+CATKIN_SHELL=sh
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
+exec "$@"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh
new file mode 100644
index 00000000..bea94051
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin-test-results.sh
@@ -0,0 +1,4 @@
+# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in
+
+export CATKIN_TEST_RESULTS_DIR="/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/build/test_results"
+export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash
new file mode 100644
index 00000000..bb6ab445
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make.bash
@@ -0,0 +1,64 @@
+function _catkin_make()
+{
+ local cur prev
+ cur=${COMP_WORDS[COMP_CWORD]}
+ prev=${COMP_WORDS[COMP_CWORD-1]}
+
+ # autocomplete path arguments for -C, --directory, --source, --build
+ case $prev in
+ -C|--directory|--source|--build)
+ _filedir -d
+ return 0
+ ;;
+ esac
+
+ if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+ # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+ COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+ elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+ # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+ COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+ elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then
+ COMPREPLY=()
+ elif [[ "$cur" == -* ]]; then
+ local opts="$( _parse_help "$1" )"
+ [[ $opts ]] || opts="$( _parse_usage "$1" )"
+ if [[ "$cur" == -* ]]; then
+ # suggest some common CMake arguments
+ opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE="
+ fi
+ COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+ [[ $COMPREPLY == *= ]] && compopt -o nospace
+ else
+ # check if custom workspace root has been specified on the command line
+ local workspace_dir="."
+ for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+ if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+ # eval to expand tilde
+ eval workspace_dir=${COMP_WORDS[i+1]}
+ fi
+ done
+ # check if custom build folder has been specified on the command line
+ local build_dir="build"
+ for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+ if [[ ${COMP_WORDS[i]} == --build ]]; then
+ # eval to expand tilde
+ eval build_dir=${COMP_WORDS[i+1]}
+ fi
+ done
+
+ # determine location of Makefile
+ local makefile_dir
+ if [[ "$build_dir" = /* ]]; then
+ makefile_dir="$build_dir"
+ else
+ makefile_dir="$workspace_dir/$build_dir"
+ fi
+ COMPREPLY=()
+ if [ -f "$makefile_dir/Makefile" ]; then
+ cur=${COMP_WORDS[COMP_CWORD]}
+ COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+ fi
+ fi
+} &&
+complete -F _catkin_make catkin_make
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
new file mode 100644
index 00000000..5cdc4dd8
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash
@@ -0,0 +1,62 @@
+function _catkin_make_isolated()
+{
+ local cur prev
+ cur=${COMP_WORDS[COMP_CWORD]}
+ prev=${COMP_WORDS[COMP_CWORD-1]}
+
+ # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install
+ case $prev in
+ -C|--directory|--source|--build|--devel|--install)
+ _filedir -d
+ return 0
+ ;;
+ esac
+
+ if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then
+ # autocomplete CMake argument CMAKE_BUILD_TYPE with its options
+ COMPREPLY=( $( compgen -P "-DCMAKE_BUILD_TYPE=" -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) )
+ elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then
+ # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options
+ COMPREPLY=( $( compgen -P "-DCATKIN_ENABLE_TESTING=" -W "0 1" -- "${cur:24}" ) )
+ elif [[ "$cur" == -* ]]; then
+ local opts="$( _parse_help "$1" )"
+ [[ $opts ]] || opts="$( _parse_usage "$1" )"
+ if [[ "$cur" == -* ]]; then
+ # suggest some common CMake arguments
+ opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE="
+ fi
+ COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) )
+ [[ $COMPREPLY == *= ]] && compopt -o nospace
+ else
+ # check if custom workspace root has been specified on the command line
+ local workspace_dir="."
+ for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+ if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then
+ # eval to expand tilde
+ eval workspace_dir=${COMP_WORDS[i+1]}
+ fi
+ done
+ # check if custom build folder has been specified on the command line
+ local build_dir="build_isolated"
+ for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do
+ if [[ ${COMP_WORDS[i]} == --build ]]; then
+ # eval to expand tilde
+ eval build_dir=${COMP_WORDS[i+1]}
+ fi
+ done
+
+ # determine location of Makefile
+ local makefile_dir
+ if [[ "$build_dir" = /* ]]; then
+ makefile_dir="$build_dir"
+ else
+ makefile_dir="$workspace_dir/$build_dir"
+ fi
+ COMPREPLY=()
+ if [ -f "$makefile_dir/Makefile" ]; then
+ cur=${COMP_WORDS[COMP_CWORD]}
+ COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur ))
+ fi
+ fi
+} &&
+complete -F _catkin_make_isolated catkin_make_isolated
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/mar_est/mar_est b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/mar_est/mar_est
new file mode 100755
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diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc
new file mode 100644
index 00000000..0df9b35e
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib/pkgconfig/mar_est.pc
@@ -0,0 +1,8 @@
+prefix=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel
+
+Name: mar_est
+Description: Description of mar_est
+Version: 0.0.0
+Cflags:
+Libs: -L/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib
+Requires:
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash
new file mode 100644
index 00000000..ff47af8f
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.bash
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+# generated from catkin/cmake/templates/setup.bash.in
+
+CATKIN_SHELL=bash
+
+# source setup.sh from same directory as this file
+_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd)
+. "$_CATKIN_SETUP_DIR/setup.sh"
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
new file mode 100644
index 00000000..9c18d8fd
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.sh
@@ -0,0 +1,87 @@
+#!/usr/bin/env sh
+# generated from catkin/cmake/template/setup.sh.in
+
+# Sets various environment variables and sources additional environment hooks.
+# It tries it's best to undo changes from a previously sourced setup file before.
+# Supported command line options:
+# --extend: skips the undoing of changes from a previously sourced setup file
+
+# since this file is sourced either use the provided _CATKIN_SETUP_DIR
+# or fall back to the destination set at configure time
+: ${_CATKIN_SETUP_DIR:=/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel}
+_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py"
+unset _CATKIN_SETUP_DIR
+
+if [ ! -f "$_SETUP_UTIL" ]; then
+ echo "Missing Python script: $_SETUP_UTIL"
+ return 22
+fi
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+ _IS_DARWIN=1
+fi
+unset _UNAME
+
+# make sure to export all environment variables
+export CMAKE_PREFIX_PATH
+export CPATH
+if [ $_IS_DARWIN -eq 0 ]; then
+ export LD_LIBRARY_PATH
+else
+ export DYLD_LIBRARY_PATH
+fi
+unset _IS_DARWIN
+export PATH
+export PKG_CONFIG_PATH
+export PYTHONPATH
+
+# remember type of shell if not already set
+if [ -z "$CATKIN_SHELL" ]; then
+ CATKIN_SHELL=sh
+fi
+
+# invoke Python script to generate necessary exports of environment variables
+_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX`
+if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then
+ echo "Could not create temporary file: $_SETUP_TMP"
+ return 1
+fi
+CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP
+_RC=$?
+if [ $_RC -ne 0 ]; then
+ if [ $_RC -eq 2 ]; then
+ echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?"
+ else
+ echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC"
+ fi
+ unset _RC
+ unset _SETUP_UTIL
+ rm -f $_SETUP_TMP
+ unset _SETUP_TMP
+ return 1
+fi
+unset _RC
+unset _SETUP_UTIL
+. $_SETUP_TMP
+rm -f $_SETUP_TMP
+unset _SETUP_TMP
+
+# source all environment hooks
+_i=0
+while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do
+ eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i
+ unset _CATKIN_ENVIRONMENT_HOOKS_$_i
+ eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+ unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE
+ # set workspace for environment hook
+ CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace
+ . "$_envfile"
+ unset CATKIN_ENV_HOOK_WORKSPACE
+ _i=$((_i + 1))
+done
+unset _i
+
+unset _CATKIN_ENVIRONMENT_HOOKS_COUNT
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh
new file mode 100644
index 00000000..b6607176
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/setup.zsh
@@ -0,0 +1,8 @@
+#!/usr/bin/env zsh
+# generated from catkin/cmake/templates/setup.zsh.in
+
+CATKIN_SHELL=zsh
+_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+emulate sh # emulate POSIX
+. "$_CATKIN_SETUP_DIR/setup.sh"
+emulate zsh # back to zsh mode
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-version.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-version.cmake
new file mode 100644
index 00000000..7fd9f993
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "0.0.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_EXACT True)
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+ set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake
new file mode 100644
index 00000000..02611474
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/share/mar_est/cmake/mar_estConfig.cmake
@@ -0,0 +1,191 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+ if(NOT "${ARGN}" STREQUAL "")
+ if(${listname})
+ list(REMOVE_ITEM ${listname} ${ARGN})
+ endif()
+ list(APPEND ${listname} ${ARGN})
+ endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+ foreach(_item ${ARGN})
+ list(FIND ${listname} ${_item} _index)
+ if(_index EQUAL -1)
+ list(APPEND ${listname} ${_item})
+ endif()
+ endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+ set(${VAR} "")
+ set(_argn ${ARGN})
+ list(LENGTH _argn _count)
+ set(_index 0)
+ while(${_index} LESS ${_count})
+ list(GET _argn ${_index} lib)
+ if("${lib}" MATCHES "^debug|optimized|general$")
+ math(EXPR _index "${_index} + 1")
+ if(${_index} EQUAL ${_count})
+ message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+ endif()
+ list(GET _argn ${_index} library)
+ list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+ else()
+ list(APPEND ${VAR} "${lib}")
+ endif()
+ math(EXPR _index "${_index} + 1")
+ endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+ set(${VAR} "")
+ foreach(lib ${ARGN})
+ string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+ list(APPEND ${VAR} "${lib}")
+ endforeach()
+endmacro()
+
+
+if(mar_est_CONFIG_INCLUDED)
+ return()
+endif()
+set(mar_est_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+ set(mar_est_SOURCE_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est)
+ set(mar_est_DEVEL_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel)
+ set(mar_est_INSTALL_PREFIX "")
+ set(mar_est_PREFIX ${mar_est_DEVEL_PREFIX})
+else()
+ set(mar_est_SOURCE_PREFIX "")
+ set(mar_est_DEVEL_PREFIX "")
+ set(mar_est_INSTALL_PREFIX /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/install)
+ set(mar_est_PREFIX ${mar_est_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+ set(_msg "WARNING: package 'mar_est' is deprecated")
+ # append custom deprecation text if available
+ if(NOT "" STREQUAL "TRUE")
+ set(_msg "${_msg} ()")
+ endif()
+ message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(mar_est_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "" STREQUAL "")
+ set(mar_est_INCLUDE_DIRS "")
+ set(_include_dirs "")
+ foreach(idir ${_include_dirs})
+ if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+ set(include ${idir})
+ elseif("${idir}" STREQUAL "include")
+ get_filename_component(include "${mar_est_DIR}/../../../include" ABSOLUTE)
+ if(NOT IS_DIRECTORY ${include})
+ message(FATAL_ERROR "Project 'mar_est' specifies '${idir}' as an include dir, which is not found. It does not exist in '${include}'. Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+ endif()
+ else()
+ message(FATAL_ERROR "Project 'mar_est' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/${idir}'. Ask the maintainer 'faridalijani <faridalijani@todo.todo>' to fix it.")
+ endif()
+ _list_append_unique(mar_est_INCLUDE_DIRS ${include})
+ endforeach()
+endif()
+
+set(libraries "")
+foreach(library ${libraries})
+ # keep build configuration keywords, target names and absolute libraries as-is
+ if("${library}" MATCHES "^debug|optimized|general$")
+ list(APPEND mar_est_LIBRARIES ${library})
+ elseif(TARGET ${library})
+ list(APPEND mar_est_LIBRARIES ${library})
+ elseif(IS_ABSOLUTE ${library})
+ list(APPEND mar_est_LIBRARIES ${library})
+ else()
+ set(lib_path "")
+ set(lib "${library}-NOTFOUND")
+ # since the path where the library is found is returned we have to iterate over the paths manually
+ foreach(path /home/faridalijani/thesis/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/devel/lib;/opt/ros/hydro/lib)
+ find_library(lib ${library}
+ PATHS ${path}
+ NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+ if(lib)
+ set(lib_path ${path})
+ break()
+ endif()
+ endforeach()
+ if(lib)
+ _list_append_unique(mar_est_LIBRARY_DIRS ${lib_path})
+ list(APPEND mar_est_LIBRARIES ${lib})
+ else()
+ # as a fall back for non-catkin libraries try to search globally
+ find_library(lib ${library})
+ if(NOT lib)
+ message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'mar_est'? Did you find_package() it before the subdirectory containing its code is included?")
+ endif()
+ list(APPEND mar_est_LIBRARIES ${lib})
+ endif()
+ endif()
+endforeach()
+
+set(mar_est_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${mar_est_EXPORTED_TARGETS})
+ if(NOT TARGET ${t})
+ add_custom_target(${t})
+ endif()
+endforeach()
+
+set(depends "")
+foreach(depend ${depends})
+ string(REPLACE " " ";" depend_list ${depend})
+ # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+ list(GET depend_list 0 mar_est_dep)
+ list(LENGTH depend_list count)
+ if(${count} EQUAL 1)
+ # simple dependencies must only be find_package()-ed once
+ if(NOT ${mar_est_dep}_FOUND)
+ find_package(${mar_est_dep} REQUIRED)
+ endif()
+ else()
+ # dependencies with components must be find_package()-ed again
+ list(REMOVE_AT depend_list 0)
+ find_package(${mar_est_dep} REQUIRED ${depend_list})
+ endif()
+ _list_append_unique(mar_est_INCLUDE_DIRS ${${mar_est_dep}_INCLUDE_DIRS})
+
+ # merge build configuration keywords with library names to correctly deduplicate
+ _pack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+ _pack_libraries_with_build_configuration(_libraries ${${mar_est_dep}_LIBRARIES})
+ _list_append_deduplicate(mar_est_LIBRARIES ${_libraries})
+ # undo build configuration keyword merging after deduplication
+ _unpack_libraries_with_build_configuration(mar_est_LIBRARIES ${mar_est_LIBRARIES})
+
+ _list_append_unique(mar_est_LIBRARY_DIRS ${${mar_est_dep}_LIBRARY_DIRS})
+ list(APPEND mar_est_EXPORTED_TARGETS ${${mar_est_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+ if(NOT IS_ABSOLUTE ${extra})
+ set(extra ${mar_est_DIR}/${extra})
+ endif()
+ include(${extra})
+endforeach()
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt
new file mode 100644
index 00000000..05808fcd
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt
@@ -0,0 +1,205 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mar_est)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ geometry_msgs
+ roscpp
+ rospy
+ std_msgs
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+)
+
+SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
+SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
+set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+
+## System dependencies are found with CMake's conventions
+find_package(aruco REQUIRED )
+find_package(OpenCV REQUIRED )
+
+INCLUDE(FindPkgConfig)
+
+set(ROS_BUILD_TYPE Debug)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# aruco_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES mar_est
+# CATKIN_DEPENDS aruco aruco_msgs cv_bridge image_transport message_generation pal_vision_segmentation roscpp tf
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(mar_est include/ viewpoint_estimation_lib.h
+ ${catkin_INCLUDE_DIRS}
+ ${ARUCO_INCLUDE_DIRS}
+ )
+
+
+## Declare a C++ library
+# add_library(mar_est
+# src/${PROJECT_NAME}/mar_est.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(mar_est ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(mar_est src/viewpoint_estimation.cpp src/viewpoint_estimation_lib.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(mar_est_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(mar_est
+ ${catkin_LIBRARIES}
+ ${aruco_LIBS}
+ )
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS mar_est mar_est_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mar_est.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~
new file mode 100644
index 00000000..4fa26cfe
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/CMakeLists.txt~
@@ -0,0 +1,203 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mar_est)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ geometry_msgs
+ roscpp
+ rospy
+ std_msgs
+ tf
+ sensor_msgs
+ image_transport
+ cv_bridge
+)
+
+SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
+SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
+set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
+
+## System dependencies are found with CMake's conventions
+find_package(aruco REQUIRED )
+find_package(OpenCV REQUIRED )
+
+INCLUDE(FindPkgConfig)
+
+set(ROS_BUILD_TYPE Debug)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# aruco_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES mar_est
+# CATKIN_DEPENDS aruco aruco_msgs cv_bridge image_transport message_generation pal_vision_segmentation roscpp tf
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(mar_est include/ viewpoint_estimation_lib.h
+ ${catkin_INCLUDE_DIRS}
+ ${ARUCO_INCLUDE_DIRS}
+ )
+
+
+## Declare a C++ library
+# add_library(mar_est
+# src/${PROJECT_NAME}/mar_est.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(mar_est ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+add_executable(mar_est src/viewpoint_estimation.cpp src/viewpoint_estimation_lib.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(mar_est_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(mar_est_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS mar_est mar_est_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mar_est.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h
new file mode 100644
index 00000000..f47eb9a4
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/include/viewpoint_estimation_lib.h
@@ -0,0 +1,79 @@
+
+#ifndef VIEWPOINT_ESTIMATOR_LIB_H
+#define VIEWPOINT_ESTIMATOR_LIB_H
+
+//Standard ROS headers
+#include <sensor_msgs/image_encodings.h>
+#include <tf/transform_broadcaster.h>
+
+#include <iostream>
+#include <fstream>
+#include <visualization_msgs/Marker.h>
+
+//Aruco headers
+#include <aruco/aruco.h>
+#include <aruco/cameraparameters.h>
+#include <aruco/cvdrawingutils.h>
+#include <aruco/arucofidmarkers.h>
+
+//OpenCV headers
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/calib3d/calib3d.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+#include <image_transport/image_transport.h>
+#include <cv_bridge/cv_bridge.h>
+
+
+class ViewPoint_Estimator
+{
+public:
+
+ explicit ViewPoint_Estimator(ros::NodeHandle *nh);
+ ~ViewPoint_Estimator();
+ bool load_calibration_file(std::string filename);
+ void image_callback(const sensor_msgs::ImageConstPtr &original_image);
+
+ bool chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image);
+ bool markers_find_pattern(cv::Mat input_image, cv::Mat output_image);
+
+ void publish_marker(geometry_msgs::Pose marker_pose,const int marker_id);
+
+
+ tf::Transform arucoMarker2Tf(const aruco::Marker &marker);
+
+
+private:
+
+ cv::Mat I; //OpeCV image
+
+ //Calibration parameters
+ std::string filename; //calibration file path
+ cv::Mat *intrinsics; //camera intrinsics
+ cv::Mat *distortion_coeff; //camera distortion coeffs
+ cv::Size *image_size; //image_size
+
+ //ROS messaging
+ ros::Publisher marker_pub; //marker visualization
+
+ //Chessboard detection variables
+ cv::Size board_size; //widht and height of calibration grid
+ float square_size; //size of grid square
+
+ std::vector <cv::Point3f> chessboard3D_points; //chessboard 3D points in own reference frame
+ std::vector<cv::Point2f> chessboard2D_points; //chessboard 2D points in image
+
+ std::vector <cv::Point3d> ref_frame_points; //reference xyz frame points
+ std::vector<cv::Point2d> image_frame_points; //reference xyz frame points in image
+
+ //Marker parameters
+ double marker_size; //marker geometry
+ aruco::CameraParameters aruco_calib_params; //Camera parameters for aruco lib
+
+ //TF frame
+ std::string camera_frame; //parrent camera frame name
+
+};
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_H
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml
new file mode 100644
index 00000000..06010db0
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package>
+ <name>mar_est</name>
+ <version>0.0.0</version>
+ <description>The mar_est package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="faridalijani@todo.todo">faridalijani</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>cv_bridge</build_depend>
+ <build_depend>geometry_msgs</build_depend>
+ <build_depend>image_transport</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_depend>tf</build_depend>
+
+ <run_depend>cv_bridge</run_depend>
+ <run_depend>geometry_msgs</run_depend>
+ <run_depend>image_transport</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>rospy</run_depend>
+ <run_depend>std_msgs</run_depend>
+ <run_depend>tf</run_depend>
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~
new file mode 100644
index 00000000..5e3c44cb
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/package.xml~
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package>
+ <name>mar_est</name>
+ <version>0.0.0</version>
+ <description>The mar_est package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="faridalijani@todo.todo">faridalijani</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/mar_est</url> -->
+
+
+ <!-- Author tags are optional, mutiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintianers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+ <build_depend>cv_bridge</build_depend>
+ <build_depend>image_transport</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>tf</build_depend>
+
+
+ <run_depend>cv_bridge</run_depend>
+ <run_depend>image_transport</run_depend>
+ <run_depend>roscpp</run_depend>
+ <run_depend>tf</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp
new file mode 100644
index 00000000..6372a2b1
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation.cpp
@@ -0,0 +1,18 @@
+#include <ros/ros.h>
+#include <viewpoint_estimation_lib.h>
+
+int
+main(int argc, char *argv[])
+{
+ ros::init(argc, argv, "viewpoint_estimation");
+ ros::NodeHandle nh;
+
+ ViewPoint_Estimator est(&nh);
+
+ image_transport::ImageTransport it(nh);
+ image_transport::Subscriber sub = it.subscribe("/image_raw", 1, &ViewPoint_Estimator::image_callback, &est);
+
+ ros::spin();
+
+ return(EXIT_SUCCESS);
+}
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp
new file mode 100644
index 00000000..87705c8b
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp
@@ -0,0 +1,331 @@
+#ifndef VIEWPOINT_ESTIMATOR_LIB_CPP
+#define VIEWPOINT_ESTIMATOR_LIB_CPP
+
+////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <viewpoint_estimation_lib.h>
+
+namespace enc = sensor_msgs::image_encodings;
+
+ViewPoint_Estimator::ViewPoint_Estimator(ros::NodeHandle *nh) :
+ square_size(2.75), //Chessboard square size
+ marker_size(0.1), //Default Marker size in cm
+ filename("empty"), //Initial filename
+ camera_frame("world") //Initial camera frame
+{
+ nh->getParam("/viewpoint_estimation/calibration_file", filename);
+ nh->getParam("/viewpoint_estimation/camera_frame", camera_frame);
+ nh->getParam("/viewpoint_estimation/marker_size", marker_size);
+
+ //Marker Visualization with IK
+ marker_pub = nh->advertise<visualization_msgs::Marker>("Estimated_marker", 1);
+
+ load_calibration_file(filename); //Load camera calibration data
+ board_size.width = 9; //Set grid parameters
+ board_size.height = 6;
+ //cv::namedWindow("RGB", CV_WINDOW_AUTOSIZE);
+
+ //Generate chessboard 3D points for solvePnP
+ for(int i = 0; i < board_size.height; ++i)
+ for(int j = 0; j < board_size.width; ++j)
+ chessboard3D_points.push_back(cv::Point3f(float(i*square_size), float(j*square_size), 0.f));
+
+ //Generate reference frame points for chessboard detection
+ ref_frame_points.push_back( cv::Point3d( 0.0, 0.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 10.0, 0.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 0.0, 10.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 0.0, 0.0, 10.0) );
+
+}
+
+ViewPoint_Estimator::~ViewPoint_Estimator()
+{
+ delete intrinsics;
+ delete distortion_coeff;
+ delete image_size;
+}
+
+void
+ViewPoint_Estimator::image_callback(const sensor_msgs::ImageConstPtr &original_image)
+{
+ //ROS Image to Mat structure
+ cv_bridge::CvImagePtr cv_ptr;
+ try
+ {
+ cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
+ }
+ catch (cv_bridge::Exception& e)
+ {
+ ROS_ERROR("red_ball_detection::cv_bridge_exception %s", e.what());
+ return;
+ }
+ I = cv_ptr->image;
+
+ //============================================
+ //Choose Chessboard or Marker detection
+ //bool found = chessboard_find_pattern(I,I);
+ bool found = markers_find_pattern(I,I);
+ //============================================
+
+ //imshow("RGB", I);
+ cv::waitKey(10);
+
+}
+
+bool
+ViewPoint_Estimator::chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image)
+{
+ //Look for feature points in current image
+ bool found = cv::findChessboardCorners(input_image, board_size, chessboard2D_points, cv::CALIB_CB_FAST_CHECK );
+ //std::cout << "Chessboard detected: " << found << std::endl;
+ if (found == true)
+ {
+ //Estimate chessboard pose
+ cv::Mat rvec, tvec;
+ cv::solvePnP(cv::Mat(chessboard3D_points), cv::Mat(chessboard2D_points),*intrinsics, *distortion_coeff, rvec, tvec, false);
+ //std::cout << "Rvec: " << rvec << std::endl;
+ //std::cout << "Tvec: " << tvec << std::endl;
+
+ //Project reference frame on the image
+ cv::projectPoints(ref_frame_points, rvec, tvec, *intrinsics, *distortion_coeff, image_frame_points);
+ ///////////////////////////////////////////
+
+ //TFs
+ cv::Mat R;
+ cv::Rodrigues(rvec, R);
+
+ cv::Mat T(4,4, R.type()); //T is 4x4
+ T(cv::Range(0,3), cv::Range(0,3)) = R * 1; //copies R into T
+ T(cv::Range(0,3), cv::Range(3,4)) = tvec * 1; //copies tvec into T
+
+ //fill the last row of T
+ double *p = T.ptr<double>(3);
+ p[0] = p[1] = p[2] = 0;
+ p[3] = 1;
+
+ //Calibration Grid transform
+ tf::Vector3 object_translation(tf::Vector3(tvec.at<double>(0,0)/100, tvec.at<double>(0,1)/100, tvec.at<double>(0,2)/100));
+ tf::Matrix3x3 object_rotation(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
+ R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
+ R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
+
+ tf::Transform object_transform(object_rotation, object_translation);
+ static tf::TransformBroadcaster br;
+ br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), "world", "calibration_grid"));
+
+ //Camera transform
+ tf::Vector3 camera_translation(0,0,0);
+ tf::Matrix3x3 camera_rotation(1,0,0,
+ 0,1,0,
+ 0,0,1);
+
+ tf::Transform camera_transform(camera_rotation, camera_translation);
+ br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), "world", "camera"));
+
+ //Drawing
+ cv::Point p1, p2, p3;
+ p1.x = 10; p1.y = 10;
+ p2.x = 60; p2.y = 10;
+ p3.x = 10; p3.y = 60;
+ cv::line(output_image, p1,p2, CV_RGB(255,0,0));
+ cv::line(output_image, p1,p3, CV_RGB(0,255,0));
+ cv::line(output_image, image_frame_points[0], image_frame_points[1], CV_RGB(255,0,0), 2);
+ cv::line(output_image, image_frame_points[0], image_frame_points[2], CV_RGB(0,255,0), 2);
+ cv::line(output_image, image_frame_points[0], image_frame_points[3], CV_RGB(0,0,255), 2);
+ }
+ return(found);
+}
+
+
+bool
+ViewPoint_Estimator::markers_find_pattern(cv::Mat input_image,cv::Mat output_image)
+{
+ aruco::MarkerDetector MDetector;
+ std::vector<aruco::Marker> markers;
+ static tf::TransformBroadcaster br;
+
+ MDetector.detect(input_image, markers, aruco_calib_params, marker_size);
+
+ for(size_t i = 0; i < markers.size(); i++)
+ {
+ int current_marker_id = markers[i].id;
+ //Draw marker convex, ID, cube and axis
+ markers[i].draw(output_image, cv::Scalar(0,0,255), 2);
+ aruco::CvDrawingUtils::draw3dCube(output_image, markers[i], aruco_calib_params);
+ aruco::CvDrawingUtils::draw3dAxis(output_image, markers[i], aruco_calib_params);
+
+ //Transform marker pose to TFformat
+ tf::Transform object_transform = arucoMarker2Tf(markers[i]);
+
+ //Marker ID to string
+ std::stringstream marker_id_string;
+ marker_id_string << "marker_" << current_marker_id;
+ //Publish Current Marker TF
+ br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), camera_frame, marker_id_string.str()));
+
+ //=================================================
+ //Publish Current Marker to RViz
+ //=================================================
+ geometry_msgs::Pose marker_pose_data;
+
+ const tf::Vector3 marker_origin = object_transform.getOrigin();
+ marker_pose_data.position.x = marker_origin.getX();
+ marker_pose_data.position.y = marker_origin.getY();
+ marker_pose_data.position.z = marker_origin.getZ();
+
+ tf::Quaternion marker_quaternion = object_transform.getRotation();
+ marker_pose_data.orientation.x = marker_quaternion.getX();
+ marker_pose_data.orientation.y = marker_quaternion.getY();
+ marker_pose_data.orientation.z = marker_quaternion.getZ();
+ marker_pose_data.orientation.w = marker_quaternion.getW();
+
+ publish_marker(marker_pose_data, current_marker_id);
+
+ }
+
+ //Display camera frame
+ tf::Vector3 camera_translation(0,0,0);
+ tf::Matrix3x3 camera_rotation(1,0,0,
+ 0,1,0,
+ 0,0,1);
+
+ tf::Transform camera_transform(camera_rotation, camera_translation);
+ br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), camera_frame, "camera"));
+}
+
+tf::Transform
+ViewPoint_Estimator::arucoMarker2Tf(const aruco::Marker &marker)
+{
+ cv::Mat marker_rotation(3,3, CV_32FC1);
+ cv::Rodrigues(marker.Rvec, marker_rotation);
+ cv::Mat marker_translation = marker.Tvec;
+
+ cv::Mat rotate_to_ros(3,3,CV_32FC1);
+ rotate_to_ros.at<float>(0,0) = -1.0;
+ rotate_to_ros.at<float>(0,1) = 0;
+ rotate_to_ros.at<float>(0,2) = 0;
+ rotate_to_ros.at<float>(1,0) = 0;
+ rotate_to_ros.at<float>(1,1) = 0;
+ rotate_to_ros.at<float>(1,2) = 1.0;
+ rotate_to_ros.at<float>(2,0) = 0.0;
+ rotate_to_ros.at<float>(2,1) = 1.0;
+ rotate_to_ros.at<float>(2,2) = 0.0;
+
+ marker_rotation = marker_rotation * rotate_to_ros.t();
+
+ //Origin solution
+ tf::Matrix3x3 marker_tf_rot(marker_rotation.at<float>(0,0), marker_rotation.at<float>(0,1), marker_rotation.at<float>(0,2),
+ marker_rotation.at<float>(1,0), marker_rotation.at<float>(1,1), marker_rotation.at<float>(1,2),
+ marker_rotation.at<float>(2,0), marker_rotation.at<float>(2,1), marker_rotation.at<float>(2,2));
+
+ tf::Vector3 marker_tf_tran(marker_translation.at<float>(0,0),
+ marker_translation.at<float>(1,0),
+ marker_translation.at<float>(2,0));
+
+ //Swap X,Y axis rotation
+ tf::Quaternion marker_initial_quaternion;
+ marker_tf_rot.getRotation(marker_initial_quaternion);
+
+ tf::Quaternion marker_swap_quaternion;
+ marker_swap_quaternion.setX(marker_initial_quaternion.getY());
+ marker_swap_quaternion.setY(-marker_initial_quaternion.getX());
+ marker_swap_quaternion.setZ(marker_initial_quaternion.getZ());
+ marker_swap_quaternion.setW(marker_initial_quaternion.getW());
+
+ marker_tf_rot.setRotation(marker_swap_quaternion);
+
+ //Swap X,Y position
+ tf::Vector3 marker_swap_pose;
+
+ marker_swap_pose.setX(marker_tf_tran.getY());
+ marker_swap_pose.setY(marker_tf_tran.getX());
+ marker_swap_pose.setZ(marker_tf_tran.getZ());
+
+ marker_tf_tran.setX(marker_swap_pose.getX());
+ marker_tf_tran.setY(marker_swap_pose.getY());
+ marker_tf_tran.setZ(marker_swap_pose.getZ());
+
+ return tf::Transform(marker_tf_rot, marker_tf_tran);
+}
+
+void ViewPoint_Estimator::publish_marker(geometry_msgs::Pose marker_pose, int marker_id)
+{
+ visualization_msgs::Marker marker;
+ marker.header.frame_id = camera_frame;
+ marker.header.stamp = ros::Time::now();
+ marker.ns = "basic_shapes";
+ marker.id = marker_id;
+ marker.type = visualization_msgs::Marker::CUBE;
+ marker.action = visualization_msgs::Marker::ADD;
+
+ marker.pose = marker_pose;
+ marker.scale.x = 0.1;
+ marker.scale.y = 0.1;
+ marker.scale.z = 0.01;
+
+ marker.color.r = 0.0f;
+ marker.color.g = 1.0f;
+ marker.color.b = 0.0f;
+ marker.color.a = 1.0;
+
+ marker.lifetime = ros::Duration(0.1);
+
+ //Publish marker
+ marker_pub.publish(marker);
+
+}
+
+bool ViewPoint_Estimator::load_calibration_file(std::string filename)
+{
+ std::cout << "Reading calibration file from: " << filename << std::endl;
+ try
+ {
+ //Searching camera matrix and distortion in calibration textfile
+ //# oST version 5.0 parameters
+ string camera_matrix_str("camera matrix");
+ string distortion_str("distortion");
+
+ ifstream file;
+ file.open(filename.c_str());
+
+ intrinsics = new(cv::Mat)(3,3,CV_64F);
+ distortion_coeff = new(cv::Mat)(5,1,CV_64F);
+ image_size = new(cv::Size);
+
+ std::string line;
+ int line_counter = 0;
+ while(getline(file, line))
+ {
+ if(line == camera_matrix_str)
+ {
+ for(size_t i = 0; i < 3; i++)
+ for(size_t j = 0; j < 3; j++)
+ file >> intrinsics->at<double>(i,j);
+
+ std::cout << "Intrinsics:" << std::endl << *intrinsics << std::endl;
+ }
+ if(line == distortion_str)
+ {
+ for(size_t i = 0; i < 5; i++)
+ file >> distortion_coeff->at<double>(i,0);
+
+ std::cout << "Distortion: " << *distortion_coeff << std::endl;
+ }
+ line_counter++;
+ }
+
+ aruco_calib_params.setParams(*intrinsics, *distortion_coeff, *image_size);
+
+ if ((intrinsics->at<double>(2,2) == 1) && (distortion_coeff->at<double>(0,4) == 0))
+ ROS_INFO_STREAM("Calibration file loaded successfully");
+ else
+ ROS_WARN("WARNING: Suspicious calibration data");
+
+ }
+ catch(int e)
+ {
+ std::cout << "An exception n." << e << "occured";
+ }
+}
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_CPP
diff --git a/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~
new file mode 100644
index 00000000..c34d297e
--- /dev/null
+++ b/MobileRobot/AugReaMarker/AR_MARKER_DETECTION/mar_est/src/viewpoint_estimation_lib.cpp~
@@ -0,0 +1,331 @@
+#ifndef VIEWPOINT_ESTIMATOR_LIB_CPP
+#define VIEWPOINT_ESTIMATOR_LIB_CPP
+
+////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <viewpoint_estimation_lib.h>
+
+namespace enc = sensor_msgs::image_encodings;
+
+ViewPoint_Estimator::ViewPoint_Estimator(ros::NodeHandle *nh) :
+ square_size(2.75), //Chessboard square size
+ marker_size(0.1), //Default Marker size in cm
+ filename("empty"), //Initial filename
+ camera_frame("world") //Initial camera frame
+{
+ nh->getParam("/home/faridalijani/thesis/MobileRobot/CameraCalibration/build/bin/logitech_calibrated_data.yml", filename);
+ nh->getParam("/viewpoint_estimation/camera_frame", camera_frame);
+ nh->getParam("/viewpoint_estimation/marker_size", marker_size);
+
+ //Marker Visualization with IK
+ marker_pub = nh->advertise<visualization_msgs::Marker>("Estimated_marker", 1);
+
+ load_calibration_file(filename); //Load camera calibration data
+ board_size.width = 9; //Set grid parameters
+ board_size.height = 6;
+ //cv::namedWindow("RGB", CV_WINDOW_AUTOSIZE);
+
+ //Generate chessboard 3D points for solvePnP
+ for(int i = 0; i < board_size.height; ++i)
+ for(int j = 0; j < board_size.width; ++j)
+ chessboard3D_points.push_back(cv::Point3f(float(i*square_size), float(j*square_size), 0.f));
+
+ //Generate reference frame points for chessboard detection
+ ref_frame_points.push_back( cv::Point3d( 0.0, 0.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 10.0, 0.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 0.0, 10.0, 0.0 ) );
+ ref_frame_points.push_back( cv::Point3d( 0.0, 0.0, 10.0) );
+
+}
+
+ViewPoint_Estimator::~ViewPoint_Estimator()
+{
+ delete intrinsics;
+ delete distortion_coeff;
+ delete image_size;
+}
+
+void
+ViewPoint_Estimator::image_callback(const sensor_msgs::ImageConstPtr &original_image)
+{
+ //ROS Image to Mat structure
+ cv_bridge::CvImagePtr cv_ptr;
+ try
+ {
+ cv_ptr = cv_bridge::toCvCopy(original_image, enc::BGR8);
+ }
+ catch (cv_bridge::Exception& e)
+ {
+ ROS_ERROR("red_ball_detection::cv_bridge_exception %s", e.what());
+ return;
+ }
+ I = cv_ptr->image;
+
+ //============================================
+ //Choose Chessboard or Marker detection
+ //bool found = chessboard_find_pattern(I,I);
+ bool found = markers_find_pattern(I,I);
+ //============================================
+
+ //imshow("RGB", I);
+ cv::waitKey(10);
+
+}
+
+bool
+ViewPoint_Estimator::chessboard_find_pattern(cv::Mat input_image, cv::Mat output_image)
+{
+ //Look for feature points in current image
+ bool found = cv::findChessboardCorners(input_image, board_size, chessboard2D_points, cv::CALIB_CB_FAST_CHECK );
+ //std::cout << "Chessboard detected: " << found << std::endl;
+ if (found == true)
+ {
+ //Estimate chessboard pose
+ cv::Mat rvec, tvec;
+ cv::solvePnP(cv::Mat(chessboard3D_points), cv::Mat(chessboard2D_points),*intrinsics, *distortion_coeff, rvec, tvec, false);
+ //std::cout << "Rvec: " << rvec << std::endl;
+ //std::cout << "Tvec: " << tvec << std::endl;
+
+ //Project reference frame on the image
+ cv::projectPoints(ref_frame_points, rvec, tvec, *intrinsics, *distortion_coeff, image_frame_points);
+ ///////////////////////////////////////////
+
+ //TFs
+ cv::Mat R;
+ cv::Rodrigues(rvec, R);
+
+ cv::Mat T(4,4, R.type()); //T is 4x4
+ T(cv::Range(0,3), cv::Range(0,3)) = R * 1; //copies R into T
+ T(cv::Range(0,3), cv::Range(3,4)) = tvec * 1; //copies tvec into T
+
+ //fill the last row of T
+ double *p = T.ptr<double>(3);
+ p[0] = p[1] = p[2] = 0;
+ p[3] = 1;
+
+ //Calibration Grid transform
+ tf::Vector3 object_translation(tf::Vector3(tvec.at<double>(0,0)/100, tvec.at<double>(0,1)/100, tvec.at<double>(0,2)/100));
+ tf::Matrix3x3 object_rotation(R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2),
+ R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2),
+ R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2));
+
+ tf::Transform object_transform(object_rotation, object_translation);
+ static tf::TransformBroadcaster br;
+ br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), "world", "calibration_grid"));
+
+ //Camera transform
+ tf::Vector3 camera_translation(0,0,0);
+ tf::Matrix3x3 camera_rotation(1,0,0,
+ 0,1,0,
+ 0,0,1);
+
+ tf::Transform camera_transform(camera_rotation, camera_translation);
+ br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), "world", "camera"));
+
+ //Drawing
+ cv::Point p1, p2, p3;
+ p1.x = 10; p1.y = 10;
+ p2.x = 60; p2.y = 10;
+ p3.x = 10; p3.y = 60;
+ cv::line(output_image, p1,p2, CV_RGB(255,0,0));
+ cv::line(output_image, p1,p3, CV_RGB(0,255,0));
+ cv::line(output_image, image_frame_points[0], image_frame_points[1], CV_RGB(255,0,0), 2);
+ cv::line(output_image, image_frame_points[0], image_frame_points[2], CV_RGB(0,255,0), 2);
+ cv::line(output_image, image_frame_points[0], image_frame_points[3], CV_RGB(0,0,255), 2);
+ }
+ return(found);
+}
+
+
+bool
+ViewPoint_Estimator::markers_find_pattern(cv::Mat input_image,cv::Mat output_image)
+{
+ aruco::MarkerDetector MDetector;
+ std::vector<aruco::Marker> markers;
+ static tf::TransformBroadcaster br;
+
+ MDetector.detect(input_image, markers, aruco_calib_params, marker_size);
+
+ for(size_t i = 0; i < markers.size(); i++)
+ {
+ int current_marker_id = markers[i].id;
+ //Draw marker convex, ID, cube and axis
+ markers[i].draw(output_image, cv::Scalar(0,0,255), 2);
+ aruco::CvDrawingUtils::draw3dCube(output_image, markers[i], aruco_calib_params);
+ aruco::CvDrawingUtils::draw3dAxis(output_image, markers[i], aruco_calib_params);
+
+ //Transform marker pose to TFformat
+ tf::Transform object_transform = arucoMarker2Tf(markers[i]);
+
+ //Marker ID to string
+ std::stringstream marker_id_string;
+ marker_id_string << "marker_" << current_marker_id;
+ //Publish Current Marker TF
+ br.sendTransform(tf::StampedTransform(object_transform, ros::Time::now(), camera_frame, marker_id_string.str()));
+
+ //=================================================
+ //Publish Current Marker to RViz
+ //=================================================
+ geometry_msgs::Pose marker_pose_data;
+
+ const tf::Vector3 marker_origin = object_transform.getOrigin();
+ marker_pose_data.position.x = marker_origin.getX();
+ marker_pose_data.position.y = marker_origin.getY();
+ marker_pose_data.position.z = marker_origin.getZ();
+
+ tf::Quaternion marker_quaternion = object_transform.getRotation();
+ marker_pose_data.orientation.x = marker_quaternion.getX();
+ marker_pose_data.orientation.y = marker_quaternion.getY();
+ marker_pose_data.orientation.z = marker_quaternion.getZ();
+ marker_pose_data.orientation.w = marker_quaternion.getW();
+
+ publish_marker(marker_pose_data, current_marker_id);
+
+ }
+
+ //Display camera frame
+ tf::Vector3 camera_translation(0,0,0);
+ tf::Matrix3x3 camera_rotation(1,0,0,
+ 0,1,0,
+ 0,0,1);
+
+ tf::Transform camera_transform(camera_rotation, camera_translation);
+ br.sendTransform(tf::StampedTransform(camera_transform, ros::Time::now(), camera_frame, "camera"));
+}
+
+tf::Transform
+ViewPoint_Estimator::arucoMarker2Tf(const aruco::Marker &marker)
+{
+ cv::Mat marker_rotation(3,3, CV_32FC1);
+ cv::Rodrigues(marker.Rvec, marker_rotation);
+ cv::Mat marker_translation = marker.Tvec;
+
+ cv::Mat rotate_to_ros(3,3,CV_32FC1);
+ rotate_to_ros.at<float>(0,0) = -1.0;
+ rotate_to_ros.at<float>(0,1) = 0;
+ rotate_to_ros.at<float>(0,2) = 0;
+ rotate_to_ros.at<float>(1,0) = 0;
+ rotate_to_ros.at<float>(1,1) = 0;
+ rotate_to_ros.at<float>(1,2) = 1.0;
+ rotate_to_ros.at<float>(2,0) = 0.0;
+ rotate_to_ros.at<float>(2,1) = 1.0;
+ rotate_to_ros.at<float>(2,2) = 0.0;
+
+ marker_rotation = marker_rotation * rotate_to_ros.t();
+
+ //Origin solution
+ tf::Matrix3x3 marker_tf_rot(marker_rotation.at<float>(0,0), marker_rotation.at<float>(0,1), marker_rotation.at<float>(0,2),
+ marker_rotation.at<float>(1,0), marker_rotation.at<float>(1,1), marker_rotation.at<float>(1,2),
+ marker_rotation.at<float>(2,0), marker_rotation.at<float>(2,1), marker_rotation.at<float>(2,2));
+
+ tf::Vector3 marker_tf_tran(marker_translation.at<float>(0,0),
+ marker_translation.at<float>(1,0),
+ marker_translation.at<float>(2,0));
+
+ //Swap X,Y axis rotation
+ tf::Quaternion marker_initial_quaternion;
+ marker_tf_rot.getRotation(marker_initial_quaternion);
+
+ tf::Quaternion marker_swap_quaternion;
+ marker_swap_quaternion.setX(marker_initial_quaternion.getY());
+ marker_swap_quaternion.setY(-marker_initial_quaternion.getX());
+ marker_swap_quaternion.setZ(marker_initial_quaternion.getZ());
+ marker_swap_quaternion.setW(marker_initial_quaternion.getW());
+
+ marker_tf_rot.setRotation(marker_swap_quaternion);
+
+ //Swap X,Y position
+ tf::Vector3 marker_swap_pose;
+
+ marker_swap_pose.setX(marker_tf_tran.getY());
+ marker_swap_pose.setY(marker_tf_tran.getX());
+ marker_swap_pose.setZ(marker_tf_tran.getZ());
+
+ marker_tf_tran.setX(marker_swap_pose.getX());
+ marker_tf_tran.setY(marker_swap_pose.getY());
+ marker_tf_tran.setZ(marker_swap_pose.getZ());
+
+ return tf::Transform(marker_tf_rot, marker_tf_tran);
+}
+
+void ViewPoint_Estimator::publish_marker(geometry_msgs::Pose marker_pose, int marker_id)
+{
+ visualization_msgs::Marker marker;
+ marker.header.frame_id = camera_frame;
+ marker.header.stamp = ros::Time::now();
+ marker.ns = "basic_shapes";
+ marker.id = marker_id;
+ marker.type = visualization_msgs::Marker::CUBE;
+ marker.action = visualization_msgs::Marker::ADD;
+
+ marker.pose = marker_pose;
+ marker.scale.x = 0.1;
+ marker.scale.y = 0.1;
+ marker.scale.z = 0.01;
+
+ marker.color.r = 0.0f;
+ marker.color.g = 1.0f;
+ marker.color.b = 0.0f;
+ marker.color.a = 1.0;
+
+ marker.lifetime = ros::Duration(0.1);
+
+ //Publish marker
+ marker_pub.publish(marker);
+
+}
+
+bool ViewPoint_Estimator::load_calibration_file(std::string filename)
+{
+ std::cout << "Reading calibration file from: " << filename << std::endl;
+ try
+ {
+ //Searching camera matrix and distortion in calibration textfile
+ //# oST version 5.0 parameters
+ string camera_matrix_str("camera matrix");
+ string distortion_str("distortion");
+
+ ifstream file;
+ file.open(filename.c_str());
+
+ intrinsics = new(cv::Mat)(3,3,CV_64F);
+ distortion_coeff = new(cv::Mat)(5,1,CV_64F);
+ image_size = new(cv::Size);
+
+ std::string line;
+ int line_counter = 0;
+ while(getline(file, line))
+ {
+ if(line == camera_matrix_str)
+ {
+ for(size_t i = 0; i < 3; i++)
+ for(size_t j = 0; j < 3; j++)
+ file >> intrinsics->at<double>(i,j);
+
+ std::cout << "Intrinsics:" << std::endl << *intrinsics << std::endl;
+ }
+ if(line == distortion_str)
+ {
+ for(size_t i = 0; i < 5; i++)
+ file >> distortion_coeff->at<double>(i,0);
+
+ std::cout << "Distortion: " << *distortion_coeff << std::endl;
+ }
+ line_counter++;
+ }
+
+ aruco_calib_params.setParams(*intrinsics, *distortion_coeff, *image_size);
+
+ if ((intrinsics->at<double>(2,2) == 1) && (distortion_coeff->at<double>(0,4) == 0))
+ ROS_INFO_STREAM("Calibration file loaded successfully");
+ else
+ ROS_WARN("WARNING: Suspicious calibration data");
+
+ }
+ catch(int e)
+ {
+ std::cout << "An exception n." << e << "occured";
+ }
+}
+
+#endif //VIEWPOINT_ESTIMATOR_LIB_CPP
diff --git a/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o b/MobileRobot/AugReaMarker/CamMark/build/camtomar/CMakeFiles/camtomar.dir/src/VisionControl.cpp.o
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diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
index cd343e7f..fdfa7f22 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h
@@ -96,6 +96,8 @@ private:
void Controller(double RefX, double MarPoseX, double refY, double MarPoseY, double refYAW, double MarPoseYAW, double dt);
void dock(double VelX, double VelY, double omegaZ);
+
+ void move2docking(double VelX_est, double VelY_est, double omegaZ_est);
public:
@@ -118,10 +120,10 @@ public:
void myhandler(int value);
-
static double Pos_P,Pos_I,Pos_D;
static double Ang_P,Ang_I,Ang_D;
+
// ---- CONTROLL PARAMETERS ------ //
static double prev_errorX;
static double int_errorX;
@@ -153,10 +155,10 @@ public:
static double zeroMin,zeroMax;
- static double P_eps,A_eps;
-
+ static double Py_eps,Pz_eps,A_eps;
+
double marpose[6];
- double campose[6];
+ double camPose[6];
double RefPose[6];
/*double prev_error[6];
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
index cd343e7f..c933f60c 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/include/VisionControl.h~
@@ -97,6 +97,7 @@ private:
void dock(double VelX, double VelY, double omegaZ);
+ void move2docking(double VelX_est, double VelY_est, double omegaZ_est);
public:
ImageConverter();
@@ -118,10 +119,10 @@ public:
void myhandler(int value);
-
static double Pos_P,Pos_I,Pos_D;
static double Ang_P,Ang_I,Ang_D;
+
// ---- CONTROLL PARAMETERS ------ //
static double prev_errorX;
static double int_errorX;
@@ -153,8 +154,8 @@ public:
static double zeroMin,zeroMax;
- static double P_eps,A_eps;
-
+ static double Py_eps,Pz_eps,A_eps;
+
double marpose[6];
double campose[6];
double RefPose[6];
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
index 63ad81f3..38414113 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp
@@ -33,7 +33,6 @@
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/ml/ml.hpp"
#include "opencv2/highgui/highgui_c.h"
-
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/contrib/contrib.hpp"
@@ -43,22 +42,21 @@ using namespace cv;
using namespace aruco;
using namespace std;
-double ImageConverter::Pos_P = .01;
-double ImageConverter::Pos_I = .5;
+double ImageConverter::Pos_P = .0000001;
+double ImageConverter::Pos_I = .02;
double ImageConverter::Pos_D = 0;
-
-double ImageConverter::Ang_P = .001;
-double ImageConverter::Ang_I = .05;
-double ImageConverter::Ang_D = 0;
+double ImageConverter::Ang_P = 0.05 * ImageConverter::Pos_P;
+double ImageConverter::Ang_I = 0.05 * ImageConverter::Pos_I;
+double ImageConverter::Ang_D = 0.05 * ImageConverter::Pos_D;
float ImageConverter::TheMarkerSize = -1;
-int ImageConverter::Thresh1_min = 5;
-int ImageConverter::Thresh2_min = 5;
+int ImageConverter::Thresh1_min = 20;
+int ImageConverter::Thresh2_min = 20;
-int ImageConverter::Thresh1_max = 200;
-int ImageConverter::Thresh2_max = 200;
+int ImageConverter::Thresh1_max = 300;
+int ImageConverter::Thresh2_max = 300;
const string ImageConverter::trackbarWindowName = "Trackbars";
@@ -103,7 +101,8 @@ double ImageConverter::control_signalYAW;
double ImageConverter::zeroMax = .0000000000000000001;
double ImageConverter::zeroMin = -.0000000000000000001;
-double ImageConverter::P_eps = .01;
+double ImageConverter::Pz_eps = .01;
+double ImageConverter::Py_eps = .001;
double ImageConverter::A_eps = .1;
@@ -156,32 +155,20 @@ void ImageConverter::myhandler(int value)
// Recompute
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
+ // TheInputImageCopy is the output image for TheInputImage
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i=0;i<TheMarkers.size();i++)
{
- TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
+ TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
}
-
- /*// Print other rectangles that contains no valid markers
- for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
- aruco::Marker m( MDetector.getCandidates()[i],999);
- m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
- } */
-
- // Draw a 3d cube in each marker if there is 3d info
- if (TheCameraParameters.isValid())
- for (unsigned int i=0;i<TheMarkers.size();i++)
- CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
-
+
imshow("INPUT IMAGE",TheInputImageCopy);
imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
void ImageConverter::createTrackbars()
{
-
namedWindow(trackbarWindowName, 0);
-
createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
@@ -236,9 +223,9 @@ void ImageConverter::ProgStart(int argc,char** argv)
const std::string vsa = "http://192.168.0.101:8080/video?x.mjpeg";
// -- publishing video stream with Android Camera--
- //TheVideoCapturer.open(vsa);
+ TheVideoCapturer.open(vsa);
- TheVideoCapturer.open(1);
+ //TheVideoCapturer.open(0);
// Check video is open
if (!TheVideoCapturer.isOpened())
@@ -262,10 +249,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
MDetector.pyrDown(ThePyrDownLevel);
}
-
-
- MDetector.setCornerRefinementMethod(MarkerDetector::LINE);
+ MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
char key=0;
int index=0;
@@ -278,6 +263,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
{
// Detection of markers in the image passed
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+ //MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates);
+
TheInputImage.copyTo(TheInputImageCopy);
geometry_msgs::PoseStamped msg;
@@ -294,9 +281,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
}else
{
found = false;
- //ROS_INFO("MARKER NOT FOUND ! \n");
+ move2docking(-control_signalX, -control_signalY, control_signalYAW);
}
- //bool found = (TheMarkers.size()>0)?true:false;
if (ros::ok() && found)
{
@@ -386,24 +372,20 @@ void ImageConverter::ProgStart(int argc,char** argv)
ros::spinOnce();
// -------------------------Removed----------------------------- //
+ }
+ // Print other rectangles that contains no valid markers
+ for (unsigned int i=0;i<MDetector.getCandidates().size();i++)
+ {
+ Marker m( MDetector.getCandidates()[i],10);
+ m.draw(TheInputImageCopy,cv::Scalar(0,255,0),2);
}
- /*// Print other rectangles that contains no valid markers
- for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
- aruco::Marker m( MDetector.getCandidates()[i],999);
- m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
- }*/
- // Draw a 3d cube in each marker if there is 3d info
- if (TheCameraParameters.isValid())
- {
- for (unsigned int i=0;i<TheMarkers.size();i++)
+ for (unsigned int i=0;i<TheMarkers.size();i++)
{
CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
}
- }
- // Show input with augmented information and the thresholded image
if (update_images)
{
imshow("INPUT IMAGE",TheInputImageCopy);
@@ -441,14 +423,18 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
{
RefPose[0] = -.0957;
-RefPose[1] = .00740;
+RefPose[1] = .006;
RefPose[2] = .35;
RefPose[3] = -.68952;
-
+
+camPose[0] = CamFB->pose.position.x;
+camPose[1] = CamFB->pose.position.y;
+camPose[2] = CamFB->pose.position.z;
+camPose[3] = CamFB->pose.orientation.x;
+
//ROS_INFO_STREAM(" Xmar = " << CamFB->pose.position.x << " m. \n");
//ROS_INFO_STREAM(" Xref = " << RefPose[0] << " m. \n");
-
// in Marker coordinate sys.
// z => X robot (thrust)
@@ -468,118 +454,143 @@ RefPose[3] = -.68952;
ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
ROS_INFO_STREAM(" ------------------------------------------------------------- \n");
-
-
- if (
- (abs(RefPose[1] - CamFB->pose.position.y) <= P_eps) && // Y
- (abs(RefPose[2] - CamFB->pose.position.z) <= P_eps) && // Z
- (abs(RefPose[3] - CamFB->pose.orientation.x) <= A_eps) // Yaw
- )
- {
+
+ if (
+ (abs(RefPose[1] - camPose[1]) <= Py_eps) && // Y
+ (abs(RefPose[2] - camPose[2]) <= Pz_eps) && // Z
+ (abs(RefPose[3] - camPose[3]) <= A_eps) // Yaw
+ )
+ {
- ROS_INFO("------------------------ Dock is completed ! ---------------------- \n ");
- keepMoving = false;
+ ROS_INFO("--------/*******//----- Dock is completed ! -----/*********---- \n ");
+ //keepMoving = false;
+ nh_.shutdown();
- } else
- {
- ROS_INFO(" Calculating control signal ! \n ");
- Controller(RefPose[2], CamFB->pose.position.z, RefPose[1], CamFB->pose.position.y, RefPose[3], CamFB->pose.orientation.x,.01);
- }
+ }else
+ {
+ Controller(RefPose[2], camPose[2], RefPose[1], camPose[1], RefPose[3], camPose[3],.01);
+ }
}
void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, double MarPoseY, double RefYAW, double MarPoseYAW, double dt)
{
// -----------------X--------------------- //
- // e(t) = setpoint - actual value;
- curr_errorX = RefX - MarPoseX;
- // Integrated error
- int_errorX += curr_errorX * dt;
- /*
- // -- windup gaurd --
- if (int_error < )
- {}
- else if ()
- {}*/
+ if(abs(RefX - MarPoseX) > Pz_eps)
+ {
+ // e(t) = setpoint - actual value;
+ curr_errorX = RefX - MarPoseX;
- // differentiation
- diffX = ((curr_errorX - prev_errorX) / dt);
+ // Integrated error
+ int_errorX += curr_errorX * dt;
+ /*
+ // -- windup gaurd --
+ if (int_error < )
+ {}
+ else if ()
+ {}*/
- // scalling
- p_termX = Pos_P * curr_errorX;
- i_termX = Pos_I * int_errorX;
- d_termX = Pos_D * diffX;
+ // differentiation
+ diffX = ((curr_errorX - prev_errorX) / dt);
- // control signal
- control_signalX = p_termX + i_termX + d_termX;
+ // scalling
+ p_termX = Pos_P * curr_errorX;
+ i_termX = Pos_I * int_errorX;
+ d_termX = Pos_D * diffX;
+ // control signal
+ control_signalX = p_termX + i_termX + d_termX;
- // save the current error as the previous one
- // for the next iteration.
- prev_errorX = curr_errorX;
+ // save the current error as the previous one
+ // for the next iteration.
+ prev_errorX = curr_errorX;
+ } else
+ {
+ control_signalX = 0;
+ }
// -----------------Y--------------------- //
- // e(t) = setpoint - actual value;
- curr_errorY = RefY - MarPoseY;
-
- // Integrated error
- int_errorY += curr_errorY * dt;
- /*
- // -- windup gaurd --
- if (int_error < )
- {}
- else if ()
- {}*/
-
- // differentiation
- diffY = ((curr_errorY - prev_errorY) / dt);
-
- // scalling
- p_termY = Pos_P * curr_errorY;
- i_termY = Pos_I * int_errorY;
- d_termY = Pos_D * diffY;
-
- // control signal
- control_signalY = p_termY + i_termY + d_termY;
-
-
- // save the current error as the previous one
- // for the next iteration.
- prev_errorY = curr_errorY;
-
+
+ if(abs(RefY - MarPoseY) > Py_eps)
+ {
+ // e(t) = setpoint - actual value;
+ curr_errorY = RefY - MarPoseY;
+
+ // Integrated error
+ int_errorY += curr_errorY * dt;
+ /*
+ // -- windup gaurd --
+ if (int_error < )
+ {}
+ else if ()
+ {}*/
+
+ // differentiation
+ diffY = ((curr_errorY - prev_errorY) / dt);
+
+ // scalling
+ p_termY = Pos_P * curr_errorY;
+ i_termY = Pos_I * int_errorY;
+ d_termY = Pos_D * diffY;
+
+ // control signal
+ control_signalY = p_termY + i_termY + d_termY;
+
+
+ // save the current error as the previous one
+ // for the next iteration.
+ prev_errorY = curr_errorY;
+ } else
+ {
+ control_signalY = 0;
+ }
// -------------------YAW--------------------------//
- // e(t) = setpoint - actual value;
- curr_errorYAW = RefYAW - MarPoseYAW;
- // Integrated error
- int_errorYAW += curr_errorYAW * dt;
- /*
- // -- windup gaurd --
- if (int_error < )
- {}
- else if ()
- {}*/
+
+ if(abs(RefYAW - MarPoseYAW) > A_eps)
+ {
+ // e(t) = setpoint - actual value;
+ curr_errorYAW = RefYAW - MarPoseYAW;
- // differentiation
- diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
+ // Integrated error
+ int_errorYAW += curr_errorYAW * dt;
+ /*
+ // -- windup gaurd --
+ if (int_error < )
+ {}
+ else if ()
+ {}*/
- // scalling
- p_termYAW = Ang_P * curr_errorYAW;
- i_termYAW = Ang_I * int_errorYAW;
- d_termYAW = Ang_D * diffYAW;
+ // differentiation
+ diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
- // control signal
- control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
+ // scalling
+ p_termYAW = Ang_P * curr_errorYAW;
+ i_termYAW = Ang_I * int_errorYAW;
+ d_termYAW = Ang_D * diffYAW;
+ // control signal
+ control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
- // save the current error as the previous one
- // for the next iteration.
- prev_errorYAW = curr_errorYAW;
+ // save the current error as the previous one
+ // for the next iteration.
+ prev_errorYAW = curr_errorYAW;
+ } else
+ {
+ control_signalYAW = 0;
+ }
+
+ ROS_INFO_STREAM("Control signalX = " << control_signalX <<" . \n");
+ ROS_INFO_STREAM("Control signaly = " << control_signalY << ". \n");
+ ROS_INFO_STREAM("Control signalYAW = "<< control_signalYAW <<". \n");
+
dock(-control_signalX, -control_signalY, control_signalYAW);
}
+
void ImageConverter::dock(double VelX, double VelY, double omegaZ)
{
+ ROS_INFO(".... REAL .... !");
geometry_msgs::Twist msg;
msg.linear.x = VelX;
@@ -588,6 +599,39 @@ void ImageConverter::dock(double VelX, double VelY, double omegaZ)
commandPub.publish(msg);
- ROS_INFO_STREAM(" Current speed of robot: " << msg << " m/s \n");
+ ROS_INFO_STREAM(" Current speed of robot: " << msg << ".\n");
+}
+
+void ImageConverter::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
+{
+
+ ROS_INFO_STREAM(" Zmar = " << camPose[2] << " m. \n");
+ ROS_INFO_STREAM(" Zref = " << RefPose[2] << " m. \n");
+
+ ROS_INFO_STREAM(" Ymar = " << camPose[1] << " m. \n");
+ ROS_INFO_STREAM(" Yref = " << RefPose[1] << " m. \n");
+
+ ROS_INFO_STREAM(" rollmar = " << camPose[3] << " rad. \n");
+ ROS_INFO_STREAM(" rollref = " << RefPose[3] << " rad. \n");
+
+ //ROS_INFO(" ------- /\/\/\/\ --------- \n");
+
+ ROS_INFO(".... ESTIMATION .... !\n");
+ geometry_msgs::Twist msg;
+
+ if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0)
+ {
+ VelX_est = .0001;
+ VelX_est = .0001;
+ omegaZ_est = 0;
+ }
+
+ msg.linear.x = VelX_est;
+ msg.linear.y = VelY_est;
+ msg.angular.z = omegaZ_est;
+
+ commandPub.publish(msg);
+
+ ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n");
}
// ---- Controller part ----------- END --------
diff --git a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
index c94bc35d..10a803ba 100644
--- a/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
+++ b/MobileRobot/AugReaMarker/CamMark/camtomar/src/VisionControl.cpp~
@@ -47,7 +47,6 @@ double ImageConverter::Pos_P = .01;
double ImageConverter::Pos_I = .5;
double ImageConverter::Pos_D = 0;
-
double ImageConverter::Ang_P = .001;
double ImageConverter::Ang_I = .05;
double ImageConverter::Ang_D = 0;
@@ -57,8 +56,8 @@ float ImageConverter::TheMarkerSize = -1;
int ImageConverter::Thresh1_min = 5;
int ImageConverter::Thresh2_min = 5;
-int ImageConverter::Thresh1_max = 200;
-int ImageConverter::Thresh2_max = 200;
+int ImageConverter::Thresh1_max = 300;
+int ImageConverter::Thresh2_max = 300;
const string ImageConverter::trackbarWindowName = "Trackbars";
@@ -103,7 +102,8 @@ double ImageConverter::control_signalYAW;
double ImageConverter::zeroMax = .0000000000000000001;
double ImageConverter::zeroMin = -.0000000000000000001;
-double ImageConverter::P_eps = .01;
+double ImageConverter::Pz_eps = .09;
+double ImageConverter::Py_eps = .00001;
double ImageConverter::A_eps = .1;
@@ -156,32 +156,20 @@ void ImageConverter::myhandler(int value)
// Recompute
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters);
+ // TheInputImageCopy is the output image for TheInputImage
TheInputImage.copyTo(TheInputImageCopy);
for (unsigned int i=0;i<TheMarkers.size();i++)
{
- TheMarkers[i].draw(TheInputImageCopy,Scalar(0,0,255),1);
+ TheMarkers[i].draw(TheInputImageCopy,Scalar(205,0,0),1);
}
-
- /*// Print other rectangles that contains no valid markers
- for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
- aruco::Marker m( MDetector.getCandidates()[i],999);
- m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
- } */
-
- // Draw a 3d cube in each marker if there is 3d info
- if (TheCameraParameters.isValid())
- for (unsigned int i=0;i<TheMarkers.size();i++)
- CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
-
+
imshow("INPUT IMAGE",TheInputImageCopy);
imshow("THRESHOLD IMAGE",MDetector.getThresholdedImage());
}
void ImageConverter::createTrackbars()
{
-
namedWindow(trackbarWindowName, 0);
-
createTrackbar("ThresParam 1", trackbarWindowName, &Thresh1_min, Thresh1_max, cvTackBarEvents, this);
createTrackbar("ThresParam 2", trackbarWindowName, &Thresh2_min, Thresh2_max, cvTackBarEvents, this);
@@ -262,10 +250,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
MDetector.pyrDown(ThePyrDownLevel);
}
-
-
- MDetector.setCornerRefinementMethod(MarkerDetector::LINE);
+ MDetector.setCornerRefinementMethod(MarkerDetector::LINES);
char key=0;
int index=0;
@@ -278,6 +264,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
{
// Detection of markers in the image passed
MDetector.detect(TheInputImage,TheMarkers,TheCameraParameters,TheMarkerSize);
+ //MDetector.detectRectangles(MDetector.getThresholdedImage(),MDetector._candidates);
+
TheInputImage.copyTo(TheInputImageCopy);
geometry_msgs::PoseStamped msg;
@@ -294,9 +282,8 @@ void ImageConverter::ProgStart(int argc,char** argv)
}else
{
found = false;
- //ROS_INFO("MARKER NOT FOUND ! \n");
+ move2docking(-control_signalX, -control_signalY, control_signalYAW);
}
- //bool found = (TheMarkers.size()>0)?true:false;
if (ros::ok() && found)
{
@@ -387,23 +374,19 @@ void ImageConverter::ProgStart(int argc,char** argv)
// -------------------------Removed----------------------------- //
}
- /*// Print other rectangles that contains no valid markers
- for (unsigned int i=0;i<MDetector.getCandidates().size();i++) {
- aruco::Marker m( MDetector.getCandidates()[i],999);
- m.draw(TheInputImageCopy,cv::Scalar(255,0,0));
- }*/
+ // Print other rectangles that contains no valid markers
+ for (unsigned int i=0;i<MDetector.getCandidates().size();i++)
+ {
+ Marker m( MDetector.getCandidates()[i],10);
+ m.draw(TheInputImageCopy,cv::Scalar(0,255,0),2);
+ }
- // Draw a 3d cube in each marker if there is 3d info
- if (TheCameraParameters.isValid())
- {
- for (unsigned int i=0;i<TheMarkers.size();i++)
+ for (unsigned int i=0;i<TheMarkers.size();i++)
{
CvDrawingUtils::draw3dCube(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
CvDrawingUtils::draw3dAxis(TheInputImageCopy,TheMarkers[i],TheCameraParameters);
}
- }
- // Show input with augmented information and the thresholded image
if (update_images)
{
imshow("INPUT IMAGE",TheInputImageCopy);
@@ -441,7 +424,7 @@ void ImageConverter::camCB(const geometry_msgs::PoseStamped::ConstPtr& CamFB)
{
RefPose[0] = -.0957;
-RefPose[1] = .00740;
+RefPose[1] = .006;
RefPose[2] = .35;
RefPose[3] = -.68952;
@@ -471,8 +454,8 @@ RefPose[3] = -.68952;
if (
- (abs(RefPose[1] - CamFB->pose.position.y) <= P_eps) && // Y
- (abs(RefPose[2] - CamFB->pose.position.z) <= P_eps) && // Z
+ (abs(RefPose[1] - CamFB->pose.position.y) <= Py_eps) && // Y
+ (abs(RefPose[2] - CamFB->pose.position.z) <= Pz_eps) && // Z
(abs(RefPose[3] - CamFB->pose.orientation.x) <= A_eps) // Yaw
)
{
@@ -482,7 +465,6 @@ RefPose[3] = -.68952;
} else
{
- ROS_INFO(" Calculating control signal ! \n ");
Controller(RefPose[2], CamFB->pose.position.z, RefPose[1], CamFB->pose.position.y, RefPose[3], CamFB->pose.orientation.x,.01);
}
}
@@ -564,9 +546,9 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
diffYAW = ((curr_errorYAW - prev_errorYAW) / dt);
// scalling
- p_termYAW = prop_gain * curr_errorYAW;
- i_termYAW = integ_gain * int_errorYAW;
- d_termYAW = deriv_gain * diffYAW;
+ p_termYAW = Ang_P * curr_errorYAW;
+ i_termYAW = Ang_I * int_errorYAW;
+ d_termYAW = Ang_D * diffYAW;
// control signal
control_signalYAW = p_termYAW + i_termYAW + d_termYAW;
@@ -576,10 +558,13 @@ void ImageConverter::Controller(double RefX, double MarPoseX, double RefY, doubl
// for the next iteration.
prev_errorYAW = curr_errorYAW;
+ ROS_INFO(" Calculating control signals ... ! \n ");
dock(-control_signalX, -control_signalY, control_signalYAW);
}
+
void ImageConverter::dock(double VelX, double VelY, double omegaZ)
{
+ ROS_INFO(".... REAL .... !");
geometry_msgs::Twist msg;
msg.linear.x = VelX;
@@ -588,6 +573,27 @@ void ImageConverter::dock(double VelX, double VelY, double omegaZ)
commandPub.publish(msg);
- ROS_INFO_STREAM(" Current speed of robot: " << msg << " m/s \n");
+ ROS_INFO_STREAM(" Current speed of robot: " << msg << ".\n");
+}
+
+void ImageConverter::move2docking(double VelX_est, double VelY_est, double omegaZ_est)
+{
+ ROS_INFO(".... ESTIMATION .... !");
+ geometry_msgs::Twist msg;
+
+ if (VelX_est == 0 && VelY_est == 0 && omegaZ_est == 0)
+ {
+ VelX_est = .000001;
+ VelX_est = .000001;
+ omegaZ_est = .000001;
+ }
+
+ msg.linear.x = VelX_est;
+ msg.linear.y = VelY_est;
+ msg.angular.z = omegaZ_est;
+
+ commandPub.publish(msg);
+
+ ROS_INFO_STREAM(" Current ESTIMATED speed of robot: \n" << msg << ".\n");
}
// ---- Controller part ----------- END --------
diff --git a/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar b/MobileRobot/AugReaMarker/CamMark/devel/lib/camtomar/camtomar
index c97d3b798cf20e95bfa133fb2fca7ea6b646bf8d..7b58988013f83c3cf787e374b63f5cdef835d3a7 100755
GIT binary patch
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diff --git a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
index f4fba862..52b04629 100644
--- a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
+++ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp
@@ -34,7 +34,6 @@ int main(int argc,char **argv)
}*/
-/*
#include <iostream>
#include <aruco/aruco.h>
#include <aruco/cvdrawingutils.h>
@@ -74,9 +73,8 @@ int main(int argc,char **argv)
}
}
-*/
-#include <iostream>
+/*#include <iostream>
#include <aruco/aruco.h>
#include <aruco/cvdrawingutils.h>
#include <opencv2/highgui/highgui.hpp>
@@ -133,3 +131,5 @@ int main(int argc,char **argv)
}
}
+*/
+
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
index 720f56c4..57b464e4 100644
--- a/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
+++ b/MobileRobot/AugReaMarker/aruco_testproject/aruco_simple.cpp~
@@ -74,12 +74,13 @@ int main(int argc,char **argv)
}
}
-*/
-#include <iostream>
+/*#include <iostream>
#include <aruco/aruco.h>
#include <aruco/cvdrawingutils.h>
#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/aruco.hpp>
+
using namespace cv;
using namespace aruco;
@@ -131,3 +132,5 @@ int main(int argc,char **argv)
}
}
+*/
+
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1 b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1
deleted file mode 100644
index 7b4d68d7..00000000
--- a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/1
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt
deleted file mode 100644
index d00491fd..00000000
--- a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/Progress/count.txt
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/aruco_simple.dir/aruco_simple.cpp.o b/MobileRobot/AugReaMarker/aruco_testproject/build/CMakeFiles/aruco_simple.dir/aruco_simple.cpp.o
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diff --git a/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt
new file mode 100644
index 00000000..0cbe2320
--- /dev/null
+++ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt
@@ -0,0 +1,31 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo]
+
+camera matrix
+613.561391 0.000000 319.500000
+0.000000 613.561391 239.500000
+0.000000 0.000000 1.000000
+
+distortion
+-.193862 1.456344 0.000000 0.000000 -2.693171
+
+rectification
+1.000000 0.000000 0.000000
+0.000000 1.000000 0.000000
+0.000000 0.000000 1.000000
+
+projection
+767.722475 0.000000 267.787003 0.000000
+0.000000 771.952679 260.103753 0.000000
+0.000000 0.000000 1.000000 0.000000
+
diff --git a/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~
new file mode 100644
index 00000000..3417068c
--- /dev/null
+++ b/MobileRobot/CameraCalibration/build/bin/logitech_calibration.txt~
@@ -0,0 +1,31 @@
+# oST version 5.0 parameters
+
+
+[image]
+
+width
+640
+
+height
+480
+
+[narrow_stereo]
+
+camera matrix
+613.561391 0.000000 319.500000
+0.000000 613.561391 239.500000
+0.000000 0.000000 1.000000
+
+distortion
+-.193862 1.456344 0.0 0.0 -2.693171
+
+rectification
+1.000000 0.000000 0.000000
+0.000000 1.000000 0.000000
+0.000000 0.000000 1.000000
+
+projection
+767.722475 0.000000 267.787003 0.000000
+0.000000 771.952679 260.103753 0.000000
+0.000000 0.000000 1.000000 0.000000
+
--
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